I would first stick a hal meter on bwX0 to see what lincurve is actually
doing.
Using offsets like this can be troublesome. I did something similar on
my lathe for a while and always had homing issues. The problem is that
your Z position suddenly changes when it finds the home switch so the
offset on X suddenly changes, causing a following error. This movement
also does not obey any maximum acceleration limits. The moveoff
component tries to work around some of these issues as it obeys
acceleration and speed limits but you may still have homing issues.
Les
On 02/09/2018 23:49, Gene Heskett wrote:
On Saturday 01 September 2018 16:24:20 Gene Heskett wrote:
Greetings to my probably saner friends on this list;
new info, and newer config
from the .ini file joint.0.=x
#FERROR = 0.0010
FERROR = 0.25000 <-room for x to play
#MIN_FERROR = 0.00020
MIN_FERROR = 0.12500 <- ditto, both must be in radius
HOME = 1.000
HOME_IS_SHARED = 0
HOME_OFFSET = 0.00
HOME_SEARCH_VEL = 0.025
HOME_LATCH_VEL = -0.005
HOME_FINAL_VEL = 0.025
So I can watch it moving in slow motion.
From the .hal file: All lincurve.0.y-val-NN = 0.0000000, so nothing at bwX0
below
Also comments added to indicate homeing actions
##########################
# do bedwear hookups #
# Z=joint.1 = stepgen.00 #
# X=joint.0 = stepgen.03 #
##########################
# lincurve needs input from Z position
# 1st, drive the Z motor from motion.0.joint.1.pos-cmd
net Zdrive <= joint.1.pos-cmd =>
hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
# watch bwZ to see if it moves DOES
# now route feedback back to motion
net bwZ <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb =>
joint.1.motor-pos-fb
# now send real Z position to lincurve.0.in
net bwZ => lincurve.0.in Z-axis-track.in
# lincurve.0.in is Z's position
# so now send lincurve.0.out to X via offset.0.offset
net bwX0 <= lincurve.0.out => offset.0.offset # is desired offset,
currently 0.0000 regardless of Zpos
# bwX0 remains at zero as homing x progresses as Z hasn't moved yet
# that gets us the X correction factor out of Z's position
# so now send desired X motion to offset.0.in
net bwX1 <= joint.0.pos-cmd => offset.0.in
# bwx1 progresses as x moves and is frozen by the error reported below at
-0.0924137
# send the offset diddled x to driver cmd
net bwX2 <= offset.0.out =>
hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-cmd
# bwX2 tracks bwX1 exactly till home switch closes, x moves at top speed inward
about 1/2" and is frozen at bwX1's reading of 0.0924137 after the error
reported below.
# now get its resultant position & send it to offset0,fb-pin
net bwX3 <= hm2_[HOSTMOT2](BOARD).0.stepgen.03.position-fb =>
offset.0.fb-in
# bwX3 freezes at homex true, to .5372633" I'm assuming after the rapid inward
move
which is done faster than the motor can run
# feed offset removed motor postion back to motion
net bwX4 <= offset.0.fb-out => joint.0.motor-pos-fb # result to
motion via joint
net bwX4 => X-axis-track.in # and to X-track.in
# as is bwX4, frozen at .5372633"
All except bwX0, track perfectly while 1st backout motion, looking for homez
to go true is underway
The home move is terminated with this error at the end of an unprogrammed
inward move at high speed when the home switch closes. showing on LCNC screen:
home switch inactive before start of latch move j-0
If I press F2 to re-activate, the motor just buzzes as apparently all speed
and accel settings are ignored for this unwanted move.
A 1/4 sec later a following error for joint.0 is displayed.
I think I have a similar error in Z homing, but pressing f2 after this
initial stop always always gets a motor buzz and a following error.
That, when I piddled around and finally got to z homing, results in the
carriage now moving the wrong direction if its off the switch, and
where it, 1 or 2 upgrades back and for quite some time if it was on the switch,
would first run to the right to get off the switch, then do the normal
search for switch things. I have NOT played with the signs of the homing
moves in the ini file in a year or more.
Has your canary in the coal mine actually found a bug in master? I can
zero the HOME_SEQUENCE nums and test individually if that helps but haven't yet.
Time to go check the crock-pot and see if dinner is edible yet.
Thanks for any clues.
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