Thanks for the suggestion, but I don't think that will work. I need to move both motors in the same direction to home the hinge part of the wrist. Then I need to move the same motors in opposing directions to home the rotation of the wrist. Only after both joints are homed can the motors be considered homed.
I may be able to home the rotary part by sending the motors off in opposite directions, then I'll have to find another solution for hinge part. -----Original Message----- From: andy pugh [mailto:bodge...@gmail.com] Sent: Tuesday, 26 March 2019 8:18 AM To: EMC developers Subject: Re: [Emc-developers] Homing robot arm differential joint [ was robot arm, free to a good home] On Mon, 25 Mar 2019 at 21:10, Frank Tkalcevic <fr...@franksworkshop.com.au> wrote: > I'm not sure how to home these joints. To find the 2 home positions (bend > and rotate) requires moving both motors at the same time. That doesn't work > in joint mode homing as each motor/axis homes independently. If you give both motors the same homing sequence number then they will home at the same time. With v2.8 / Master if you give them the same _negative_ homing sequence number then each axis will "wait" for the other like is best for a gantry. That might suit your requirements. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." � George Fitch, Atlanta Constitution Newspaper, 1916 _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
