Richard Arthur wrote: > ini: > http://www.pastebin.ca/644773 > hal: > http://www.pastebin.ca/644774 > screen shot: > http://imagebin.org/9721 > > Thanks, > > Richard
The scope trace shows that the the home input to the motion controller is true during the first slope - that means EMC thinks it is already on the switch, and is trying to get off of it. From the HAL file: # Connect limit/home switch outputs to motion controller. newsig Xminlim bit newsig Xmaxlim bit newsig Xhome bit linksp Xminlim <= m5i20.0.in-00-not linksp Xminlim => axis.0.neg-lim-sw-in linksp Xmaxlim <= m5i20.0.in-01-not linksp Xmaxlim => axis.0.pos-lim-sw-in linksp Xhome <= m5i20.0.in-00 linksp Xhome => axis.0.home-sw-in Note that the limit switch signal is connected to the -not pin. That's because your switches are active low. But the home signal is connected to the regular pin, not the -not one. So EMC is confused about the polarity of your home switch. The solution is to connect EMC's home input AND its negative limit input both to the -not driver pin. However, you can't connect two signals (Xminlim and Xhome) to one pin. You can connect two or more pins to one signal. I'd do it like this: # Connect limit/home switch outputs to motion controller. newsig Xminlim-and-home bit newsig Xmaxlim bit linksp Xminlim-and-home <= m5i20.0.in-00-not linksp Xminlim-and-home => axis.0.neg-lim-sw-in linksp Xminlim-and-home => axis.0.home-sw-in linksp Xmaxlim <= m5i20.0.in-01-not linksp Xmaxlim => axis.0.pos-lim-sw-in Since you are homing on the negative end of the axis, SEARCH_VEL must be negative. If you also make LATCH_VEL negative, it will home on the first index pulse outside the limit switch, which is probably not what you want. Make LATCH_VEL positive. Then the homing process will be: 1) negative slope at SEARCH_VEL until you hit the switch 2) positive slope at LATCH_VEL until you get off the switch 3) continue at the same positive slope until you hit the index 4) done Regards, John Kasunich ------------------------------------------------------------------------- This SF.net email is sponsored by: Splunk Inc. Still grepping through log files to find problems? Stop. Now Search log events and configuration files using AJAX and a browser. Download your FREE copy of Splunk now >> http://get.splunk.com/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
