The best part was that I had it working for other joints, but not for joint 2.
I do not know, how many times I looked through those INI settings...
I know that I am extremely good at not seeing things in front of my
eyes. Especially when I need to find some tool that I used few minutes
earlier and had put somewhere nearby. It almost always is right in
front of me, but I can spend 5 minutes and more looking for it. And I
am not even 30, so I do not want to know, how will I be able to work,
when I grow older :))


2012/1/28 sam sokolik <sa...@empirescreen.com>:
> 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
>>>
>>>
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