I remember reading some discussions about the gantry homing issue. For me my gantry is flexible enough just to have each joint home simutaneously with just a little bit of racking. I home with a limit switches and indexes. But there is definitly some slight racking that occurs before the post-homing positions are reached.
What do you imagine would be the proper way in which to home without racking. Because it is very difficult to get limits and index positions identical there would need to be a limit_switch_offset between the two joints and or an index_pulse_offset for each joint as well. For my particular case with my gantry, it may look like this. Probably exaggerated. A ---------------------------------[INDEX]----------------[LIMIT] B -------------[INDEX]----------------------------------------------------[LIMIT] Ideally both motors would turn at the same rate and work together to find each others limits but it would seem impossible in this case for the lower joint to ever reach its limit switch assuming the gantry is not allowed to rack. I think in this case it would be better to use only 1 limit switch for homing, and then have the gantry walk back until it hits it's first index, remember that location for joint_A, then continue walking until B finds its index, at which point they would be synced and could then continue on to their "HOME" location simultaneously, which when configured properly would not cause racking. Probably a similar idea to what has been discussed already. -Curt On Thu, Jun 25, 2015 at 3:05 PM, Moses McKnight <[email protected]> wrote: > Hi Curtis, > > I think the branch has not seen much activity for a while - everyone is > working > on other projects. But, I have a definite interest and hope to get some > time to > look at it soon. > > I believe what has been normally happening instead of merging is that the > joints_axisN branch has been duplicated into a new branch named > joints_axisN+1, > and that branch is then rebased on master. I'm not sure I understand all > the > reasoning behind that right now, but someone else can explain I'm sure. > > I don't know of a list of issues, but one is that there needs to be > support for > gantry homing to two home switches. > > You might ask on IRC in the #linuxcnc-devel channel as well. > > Moses > > On 06/25/2015 01:39 PM, Curtis Dutton wrote: > > I'm not sure why it was not building for myself. > > > > Either way I did successfully merge master into joint_axis7 and am > running > > without any issues. > > > > Is there a list of issues that need fixed with the joint axis work? Is it > > being considered for mainline integration eventually? Is there a list of > > issues here that needs addressed prior to integration? I've tried to > reach > > out here to see who wants some help with it, but I get crickets.... > > > > On Thu, Jun 25, 2015 at 12:25 PM, Sebastian Kuzminsky <[email protected]> > > wrote: > > > >> On 06/25/2015 08:21 AM, Curtis Dutton wrote: > >>> Ok so I was able to build and run master correctly. That is sorted out! > >>> > >>> But the rub is I'm running joints_axis7 since I have a gantry machine > >> with > >>> dual motors. So I decided to merge master into joints_axis7. > >> > >> joints_axes7 builds fine on Wheezy. No merge needed. > >> > >> > >> -- > >> Sebastian Kuzminsky > >> > >> > >> > ------------------------------------------------------------------------------ > >> Monitor 25 network devices or servers for free with OpManager! > >> OpManager is web-based network management software that monitors > >> network devices and physical & virtual servers, alerts via email & sms > >> for fault. Monitor 25 devices for free with no restriction. 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OpManager is web-based network management software that monitors network devices and physical & virtual servers, alerts via email & sms for fault. Monitor 25 devices for free with no restriction. Download now http://ad.doubleclick.net/ddm/clk/292181274;119417398;o _______________________________________________ Emc-developers mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-developers
