Good catch! (I was looking it over as my machine homes at its upper limit. (38",36",24") and I know that works and is setup similar to the setup below)
On 01/28/2012 01:00 PM, Frank Tkalcevic wrote: > In AXIS_1 and AXIS_2 section, you have HOME defined twice. Once at 0, the > other at 10.0. > >> -----Original Message----- >> From: Viesturs Lacis [mailto:viesturs.la...@gmail.com] >> Sent: Sunday, 29 January 2012 2:08 AM >> To: Enhanced Machine Controller (EMC) >> Subject: Re: [Emc-users] Homing >> >> 2012/1/28 andy pugh<bodge...@gmail.com>: >>> mux2 doesn't work with boolean data, unfortunately. >> I do not know, what is boolean, but You are right - it did not want to > work, >> because limit/homing switches are bit pins, mux2 inputs and output are > float. >> So I created mux2bit component, where I fixed this... >> >> So that part is working. >> >> 2012/1/28 Spiderdab<77...@tiscali.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 >>>>> It homes, sets joint coordinates to 180 and goes to 0 ignoring HOME = >> 180. >>>> It's been a while, but I think HOME_OFFSET is the distance from the >>>> switch point to the home position, so if the home switch is at 180 >>>> and the home position is 180 then HOME_OFFSET is zero. >>>> >>>> >>> For what i know OFFSET should be the same of HOME, if you want the >>> joint to stay there. (at least my machine work like this..) >>> so: >>> HOME = 180.0 >>> HOME_OFFSET = 180.0 >>> >> >> Yes, I know that it _should_!!!! >> But it does not! >> >> Andy, it is working correctly up to the point, where it trips the switch > and sets >> the joint position as stated by home_offset. >> >> The mysterious part is: >> Why on earth it has to move to 0, when HOME is set to be equal with >> HOME_OFFSET, sho it should just stay there... >> >> I am using 2.5.pre2-18-g799075f >> >> BTW the best part is that both Y joints also are homing in their positive > end >> and they work correctly. >> >> Here are the INI settings: >> >> # Y1 >> [AXIS_1] >> >> TYPE = LINEAR >> MAX_VELOCITY = 66.667 >> MAX_ACCELERATION = 120.0 >> BACKLASH = 0.000 >> FERROR = 100.050 >> MIN_FERROR = 100.010 >> >> # INPUT_SCALE = 3276.8 >> INPUT_SCALE = -3276.8 >> >> OUTPUT_SCALE = -71 >> OUTPUT_OFFSET = 0.0 >> MAX_OUTPUT = 66.667 >> >> MIN_LIMIT = 0.0 >> MAX_LIMIT = 1405.0 >> HOME = 1400.0 >> HOME_OFFSET = 1400 >> HOME_FINAL_VEL = 10 >> HOME_SEARCH_VEL = 2 >> HOME_LATCH_VEL = -0.5 >> HOME_USE_INDEX = NO >> HOME_IGNORE_LIMITS = YES >> HOME_SEQUENCE = 1 >> >> # PID tuning params >> DEADBAND = 0.002 >> P = 10 >> I = 0 >> D = 0 >> FF0 = 0 >> FF1 = 0 >> FF2 = 0 >> BIAS = 0 >> >> >> >> # Z >> [AXIS_2] >> >> TYPE = LINEAR >> HOME = 0.0 >> MAX_VELOCITY = 15 >> MAX_ACCELERATION = 60.0 >> STEPGEN_MAXACCEL = 70.0 >> BACKLASH = 0.000 >> SCALE = -400 >> >> MIN_LIMIT = -10.0 >> MAX_LIMIT = 20.0 >> >> FERROR = 0.050 >> MIN_FERROR = 0.005 >> >> HOME = 10.000 >> HOME_OFFSET = 10.00 >> HOME_SEARCH_VEL = 2.0 >> HOME_LATCH_VEL = -0.5 >> HOME_USE_INDEX = NO >> HOME_IGNORE_LIMITS = YES >> HOME_SEQUENCE = 0 >> >> # these are in nanoseconds >> DIRSETUP = 4000 >> DIRHOLD = 4000 >> STEPLEN = 4000 >> STEPSPACE = 4000 >> >> >> # Y2 >> [AXIS_3] >> >> TYPE = LINEAR >> MAX_VELOCITY = 66.667 >> MAX_ACCELERATION = 120.0 >> BACKLASH = 0.000 >> FERROR = 100.050 >> MIN_FERROR = 100.010 >> >> # INPUT_SCALE = 3276.8 >> INPUT_SCALE = -3276.8 >> >> OUTPUT_SCALE = -71 >> OUTPUT_OFFSET = 0.0 >> MAX_OUTPUT = 66.667 >> >> MIN_LIMIT = 0.0 >> MAX_LIMIT = 1405.0 >> HOME = 1400.0 >> HOME_OFFSET = 1400 >> HOME_FINAL_VEL = 10 >> HOME_SEARCH_VEL = 2 >> HOME_LATCH_VEL = -0.5 >> HOME_USE_INDEX = NO >> HOME_IGNORE_LIMITS = YES >> HOME_SEQUENCE = 1 >> >> # PID tuning params >> DEADBAND = 0.002 >> P = 380 >> I = 10 >> D = 1.9 >> FF0 = 0 >> FF1 = 0.1 >> FF2 = 0 >> BIAS = 0 >> >> Viesturs >> >> > ---------------------------------------------------------------------------- > -- >> Try before you buy = See our experts in action! >> The most comprehensive online learning library for Microsoft developers is >> just $99.99! 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