2012/1/28 Viesturs Lācis <viesturs.la...@gmail.com>: > Hello! > > I have encountered yet another silly problem. > I need Z (joint 2) to home on limit switch. The remaining joints have > dedicated homing switches. > I have NC limit switches for all joints wired in one circuit and > linked to a single gpio input. > So in HAL file I have linked limit's gpio to both limit pins of all > joints and homing switch pin of joint 2. > In INI file I have for _all_ joints: > HOME_IGNORE_LIMITS = YES > > I have set the homing sequence that Z homes first and then all the > remaining joints. > > The problem is that I get "joint 0, joint1, joint 3 on limit switch > error" as soon as joint 2 touches the limit switch. > > What else am I missing here?
After a long search I found this one in manual: "To use only one input for all homing and limits you will have to block the limits of the axis not homing with axis that is homing in HAL." Has anyone ever done that and could share some insights, how to do it in most easy way? I think that it could be done this way: loadrt mux2 axis.2.homing => mux2.sel all-limits-in => mux2.in0 setp mux2.in1 0 all-limits-out <= mux2.out Is there any other simple and easy way to do it? I have another problem: Z should home on its upper position and stay there. So in INI file I set: HOME = 180.000 HOME_OFFSET = 180.00 What actually happens is: It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = 180. How do I overcome this? Viesturs ------------------------------------------------------------------------------ Try before you buy = See our experts in action! The most comprehensive online learning library for Microsoft developers is just $99.99! Visual Studio, SharePoint, SQL - plus HTML5, CSS3, MVC3, Metro Style Apps, more. Free future releases when you subscribe now! http://p.sf.net/sfu/learndevnow-dev2 _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
