Hi,
when discussing the Autohoming issue for computerized servo drives I
came to an old point (not related to Autohoming) best
summarized by the documentations statement:
"If using a separate homing switch, it’s possible to start homing on the
wrong side of the home switch,
which combined with HOME_IGNORE_LIMITS option will lead to a hard crash."
But even if it does not crash and only stops, the operator has to know
where to move manually to leave this "wrong side zone".
(Have a machine here with 1900mm X travel and ref switches are at
X=850mm. Not even at x=950mm what may be guessed by the operator)
Because this setup (+/- limit and ref switch) IMHO is quite common on
industrial machines, i wonder if someone already came up with a solution.
I would go for extending the homing statemachine to reverse search
direction when limit switch is hit and go with search velocity
until the reference switch is activated.
Then continue with "HOME_INITIAL_BACKOFF_START" state.
Or is it intentional, to keep things simple ? I noticed that homing
questions are very often a topic.
cheers
Rainer
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