Take a look in the .var file you are running. Variable 5220 should be 1 and the rest zero unless you are trying to preserve some offsets.
Rayh On Tue, 2007-09-11 at 19:54 +0100, [EMAIL PROTECTED] wrote: > Thanks for your comments Andy but I can't see anything wrong in my ini > file and still can't understand what is going on. The problem I was > describing of not being able to reliably set zero home positions occurs > when I first switch the machines on. For instance, I just turned on to > set up a new job and the readings on the axes display in AXIS were - X > 0.000, Y -0.000, Z -10.418 and A 737.592 > I then issued a G92 X0.000 Y0.000 Z0.000 A0.000 in the MDI and all the > axis readings then went to 0.000 - good. > Then I hit the home button on each axis and they all showed the home > icon with the displayed figures staying at 0.000 > Now I jogged to X 2.752 Y 2.279 Z2.208 A -10.131 and then tried to > 'touch off' each axis, setting each one to 0.000 in the touch off box. > The readings then immediately went to X 12.842 Y -5.931 Z 4.645 A -56.156 ! > The figures for the X and Y axis I can partly understand in that they > were the positions I jogged to on a previous job but why the machine > remembered them and went to them rather than the 0.000 I commanded I > don't know. The figures for the Z and A axes are a total mystery and > mean nothing to me at all. > I have found that if I repeat the G92, home, then touch off about 3 > times, the axes figures will settle at 0.000 after touching off but I > don't know why.. > The only EMC file I altered is the ini file which is listed below and > seems innocuous to me. Can anyone offer any enlightenment please?? > > # EMC controller parameters for generic controller. Make these what you need > # for your system. > > # General note: Comments can either be preceded with a # or ; - either is > # acceptable, although # is in keeping with most linux config files. > > # Settings with a + at the front of the comment are likely needed to get > # changed by the user. > # Settings with a - at the front are highly unneeded to be changed > ############################################################################### > # General section > ############################################################################### > [EMC] > > #- Version of this INI file > VERSION = $Revision: 1.7.2.3 $ > > #+ Name of machine, for use with display, etc. > MACHINE = EMC-HAL-STEP-XYZA-MM > > #- Name of NML file to use, default is configs/common/emc.nml > NML_FILE = emc.nml > > #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others > DEBUG = 0 > # DEBUG = 0x00000007 > # DEBUG = 0x7FFFFFFF > > ############################################################################### > # Sections for display options > ############################################################################### > [DISPLAY] > > #+ Name of display program, e.g., xemc > DISPLAY = axis > # DISPLAY = usrmot > # DISPLAY = mini > # DISPLAY = tkemc > # Cycle time, in seconds, that display will sleep between polls > CYCLE_TIME = 0.100 > > #- Path to help file > HELP_FILE = doc/help.txt > > #- Initial display setting for position, RELATIVE or MACHINE > POSITION_OFFSET = RELATIVE > > #- Initial display setting for position, COMMANDED or ACTUAL > POSITION_FEEDBACK = ACTUAL > > #+ Highest value that will be allowed for feed override, 1.0 = 100% > MAX_FEED_OVERRIDE = 9.0 > > #- Prefix to be used > PROGRAM_PREFIX = /home/ian/emc2/nc_files > > #- Introductory graphic > INTRO_GRAPHIC = emc2.gif > INTRO_TIME = 3 > > > ############################################################################### > # Task controller section > ############################################################################### > [TASK] > > #- Name of task controller program, e.g., bridgeporttask > TASK = milltask > # TASK = minimilltask > > #- Cycle time, in seconds, that task controller will sleep between polls > CYCLE_TIME = 0.007 > > ############################################################################### > # Part program interpreter section > ############################################################################### > [RS274NGC] > > #- File containing interpreter variables > PARAMETER_FILE = stepper.var > > ############################################################################### > # Motion control section > ############################################################################### > [EMCMOT] > > #- Name of the motion controller to use (only one exists for nontrivkins) > EMCMOT = motmod > > #- Key for real OS shared memory, e.g., for simulated motion > SHMEM_KEY = 111 > > #- Timeout for comm to emcmot, in seconds > COMM_TIMEOUT = 1.0 > > #- Interval between tries to emcmot, in seconds > COMM_WAIT = 0.010 > > #+ Base task period, in nanosecs - this is the fastest thread in the machine > BASE_PERIOD = 40000 > #- Servo task period, in nanosecs - will be rounded to an int multiple > of BASE_PERIOD > SERVO_PERIOD = 1000000 > #- Trajectory Planner task period, in nanosecs - will be rounded to an > # integer multiple of SERVO_PERIOD > TRAJ_PERIOD = 5000000 > > ############################################################################### > # Hardware Abstraction Layer section > ############################################################################### > [HAL] > > # The run script first uses halcmd to execute any HALFILE > # files, and then to execute any individual HALCMD commands. > # > > # list of hal config files to run through halcmd > #+ files are executed in the order in which they appear > HALFILE = stepper_xyza.hal > #HALFILE = xylotex_pinout.hal > HALFILE = standard_pinout.hal > > #- list of halcmd commands to execute > # commands are executed in the order in which they appear > #HALCMD = save neta > > ############################################################################### > # Trajectory planner section > ############################################################################### > [TRAJ] > #+ machine specific settings > STEPGEN_MAXACCEL = 396.0 > AXES = 4 > # COORDINATES = X Y Z R P W > COORDINATES = X Y Z A > HOME = 0 0 0 0 > LINEAR_UNITS = metric > ANGULAR_UNITS = degree > CYCLE_TIME = 0.007 > DEFAULT_VELOCITY = 3 > DEFAULT_ANGULAR_VELOCITY = 20 > MAX_VELOCITY = 5 > MAX_ANGULAR_VELOCITY = 20.5 > DEFAULT_ACCELERATION = 3 > MAX_ACCELERATION = 4 > > ############################################################################### > # Axes sections > ############################################################################### > > #+ First axis > [AXIS_0] > > TYPE = LINEAR > HOME = 0 > MAX_VELOCITY = 5 > # NOTE: the step generator module applies its own limits to > # acceleration and velocity. We have discovered that it needs > # to have a little "headroom" over the accel by the trajectory > # planner, otherwise it can fall slightly behind during accel > # and later overshoot as it catches up. In the long term we > # hope to come up with a clean fix for this problem. In the > # meantime, please set STEPGEN_MAXACCEL below to a few percent > # higher than the regular acceleration limit > MAX_ACCELERATION = 3 > STEPGEN_MAXVEL = 10 > STEPGEN_MAXACCEL = 5 > BACKLASH = 0.000 > INPUT_SCALE = 400 > OUTPUT_SCALE = 1.000 > MIN_LIMIT = -200.00 > MAX_LIMIT = 120.0 > FERROR = 0.80 > MIN_FERROR = 0.10 > HOME_OFFSET = 0 > HOME_SEARCH_VEL = 0 > HOME_LATCH_VEL = 0 > HOME_USE_INDEX = NO > HOME_IGNORE_LIMITS = NO > > #+ Second axis > [AXIS_1] > > TYPE = LINEAR > HOME = 0.000 > MAX_VELOCITY = 2.5 > MAX_ACCELERATION = 2 > STEPGEN_MAXVEL = 3.20 > STEPGEN_MAXACCEL = 2 > BACKLASH = 0.000 > INPUT_SCALE = -400 > OUTPUT_SCALE = 1.000 > MIN_LIMIT = -20.0 > MAX_LIMIT = 90.0 > FERROR = 1 > MIN_FERROR = 0.2 > HOME_OFFSET = 0.0 > HOME_SEARCH_VEL = 0 > HOME_LATCH_VEL = 0 > HOME_USE_INDEX = NO > HOME_IGNORE_LIMITS = NO > > #+ Third axis > [AXIS_2] > > TYPE = LINEAR > HOME = 0 > MAX_VELOCITY = 3 > MAX_ACCELERATION = 2 > STEPGEN_MAXVEL = 5 > STEPGEN_MAXACCEL = 5 > BACKLASH = 0.000 > INPUT_SCALE = -400 > OUTPUT_SCALE = 1.000 > MIN_LIMIT = -90.0 > MAX_LIMIT = 90.0 > FERROR = 0.700 > MIN_FERROR = 0.20 > HOME_OFFSET = 0.0 > HOME_SEARCH_VEL = 0 > HOME_LATCH_VEL = 0 > HOME_USE_INDEX = NO > HOME_IGNORE_LIMITS = NO > > #+ Fourth axis > [AXIS_3] > > TYPE = ANGULAR > HOME = 0.0 > MAX_VELOCITY = 8.0 > MAX_ACCELERATION = 8.0 > STEPGEN_MAXVEL = 20.5 > STEPGEN_MAXACCEL = 39.0 > BACKLASH = 0.000 > INPUT_SCALE = 50 > OUTPUT_SCALE = 1.000 > MIN_LIMIT = -360000.0 > MAX_LIMIT = 360000.0 > FERROR = 5.0 > MIN_FERROR = 1.0 > HOME_OFFSET = 0.0 > HOME_SEARCH_VEL = 0.0 > HOME_LATCH_VEL = 0.0 > HOME_USE_INDEX = NO > HOME_IGNORE_LIMITS = NO > > > ############################################################################### > # section for main IO controller parameters > ############################################################################### > [EMCIO] > > #- Name of IO controller program, e.g., io > EMCIO = io > > #- cycle time, in seconds > CYCLE_TIME = 0.080 > > #- tool table file > TOOL_TABLE = stepper.tbl > ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. 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