Hi all,
Well, I've gone and added a rotary axis to my xyz-minimill, and I've
managed to break my nice homing sequence. As it turns out, I guess I
don't understand homing as well as I thought I did, because I can't
figure out the following situation:
First, here's a picture of my Y-axis hardware:
[URL=http://img37.imagevenue.com/img.php?image=48772_limit_122_670lo.jpg]
Pretty normal, right? So here's the relevant part of my ini file:
[AXIS_1]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.0
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 10.0
STEPGEN_MAXVEL = 4.0
STEPGEN_MAXACCEL = 12.0
BACKLASH = 0.000
CYCLE_TIME = 0.001
INPUT_SCALE = 2000 0.000
OUTPUT_SCALE = 2000 0.000
MIN_LIMIT = 0.0
MAX_LIMIT = 4.0
FERROR = 100
MIN_FERROR = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 3.0
HOME_LATCH_VEL = -0.4
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
When I home Y, the axis moves to the left until the limit switch closes, then
it backs off a ways, then it slowly finds the switch again. Cool. As far as I
know, this point is understood by EMC2 to be the offset from the switch
position to the HOME position in joint coordinates. The switch is physically
located at Y=0, so that's good. The HOME=0 line makes it stay put, which is
also what I want it to do.
Here's where it gets weird. AXIS indicates that Y is at -3.00, not 0 after this
sequence. Despite the MIN_LIMIT being 0, I can jog it between -3.00 and 1.00 (a distance
of 4, which seems to relate to the distance between MIN and MAX.) So it's like the
"ruler" that EMC2 is using on this axis is mis-adjusted to the physical axis,
and I can't figure out how to shift it.
I'm pretty sure that I'm overlooking something obvious, but I've banged my head
enough on it...I think I need somebody else to look at it and straighten me
out! Thanks very much.
regards,
Pat
===================
Patrick Ferrick
Town of Webb School
Main Street
Old Forge, NY 13420
(315) 369-3222
(315) 369-6216 (fax)
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