> > Do you have a home switch and is it working? > If you want to home to index only you must set HOME_SEARCH_VELOCITY to 0
The home switch is working perfectly. I'm pushing it by hand because I'm only testing in the desk but it works. If I only use home switch for homing it works perfectly. The problem starts when I try to use the index pulse. If I set HOME_SEARCH_VELOCITY to 0 and try to home using index only, the joint.0.index-enable pin turns to TRUE and when the motor trips the index pulse it stops but I get the following error message and the homing aborts. Always in the same position of the motor, so the index is detected. Do the servos have a emulated encopder output (you mentioned a Z signal, is > that from the drive?) > Yes the drive has the encoder output pins for the A, /A, B, /B, Z and /Z signals. I'm only using the Z and /Z signals because I thought I could home with index independently of the feedback I was using. El vie., 10 abr. 2020 a las 17:04, Peter C. Wallace (<[email protected]>) escribió: > On Fri, 10 Apr 2020, Leonardo Marsaglia wrote: > > > Date: Fri, 10 Apr 2020 16:50:15 -0300 > > From: Leonardo Marsaglia <[email protected]> > > Reply-To: "Enhanced Machine Controller (EMC)" > > <[email protected]> > > To: "Enhanced Machine Controller (EMC)" <[email protected] > > > > Subject: Re: [Emc-users] Home use index problem (In step + dir mode) > > > > Thank you Peter for your quick response. > > > >I just checked my ini file and the entry is like this HOME_USE_INDEX = > YES. > >I also have set SEARCH VEL and LATCH VEL at 10 and 5 respectively. I even > >inverter the differential pins on the Z pulse just to be sure they weren't > >backwards but the behaviour is the same. I'll keep playing with it but for > >now I can only set the index pulse to on manually. > > > Do you have a home switch and is it working? > If you want to home to index only you must set HOME_SEARCH_VELOCITY to 0 > > > > > > >Is it talking about using the step mode in velocity to drive the servo in > >velocity mode? Because I'm using it in velocity mode but just as suggested > >to close the loop internally and gain more accuracy at the output. Not > >closing the loop with the motor encoder. > > > > If you are using a pncconf generated hal file, the stepgen will always be > in velocity mode. though it may have internal (from stepgen) or external > (from > encoder) position feedback > > >Anyway these servos I don't think can't take pulses as velocity command. I > >have the hardware to output +/- 10 volts but I rather use them as step and > >direction to avoid mounting encoders on the screws. I don't think using > the > >encoder on the motor to be the best idea because the motor is coupled to > >the ballscrew by means of a toothed belt. > > Do the servos have a emulated encopder output (you mentioned a Z signal, > is > that from the drive?) > > El vie., 10 abr. 2020 a las 16:31, Peter C. Wallace (<[email protected]>) > escribiяя: > > > On Fri, 10 Apr 2020, Leonardo Marsaglia wrote: > > > > > Date: Fri, 10 Apr 2020 16:11:18 -0300 > > > From: Leonardo Marsaglia <[email protected]> > > > Reply-To: "Enhanced Machine Controller (EMC)" > > > <[email protected]> > > > To: "Enhanced Machine Controller (EMC)" < > [email protected] > > > > > > Subject: [Emc-users] Home use index problem (In step + dir mode) > > > > > > Hello guys again, > > > > > > I'm testing the homing of the X axis with a push button and that works > > > except when the index pulse has to trigger. That never happens. > > > > > > I'm using the 7i52S to move my servo with step + dir for position > command > > > right to the drive. In LCNC the stepper is working in velocity mode > like > > > it's recommended. I'm reading the Z pulse of the servo motor thru the > > same > > > 7i52S using one of the encoder inputs. I'm only reading Z because I > don't > > > need A and B for my purposes now. > > > > > > The problem is, I can't make the homing with index feature to work. I > can > > > see the index pulse triggering to FALSE when the shaft completes the > > turn, > > > and I even set the pin to TRUE again manually to see if the homing > > sequence > > > stops, but the motor keeps turning at final velocity waiting for the > > index > > > to happen. > > > > > > I'm even monitoring the joint.0.index-enable pin with Halmeter to be > sure > > > the signal is linked and it's working ok. The only thing I find strange > > is > > > that I need to set the index-enable pin to TRUE by myself. The homing > > > sequence doesn't seem to be doing that. > > > > It sounds like you dont have homing to index enabled in your ini file > > (if motion does not set index-enable, it will not look for it going > false) > > > > That said I dont think this will work correctly on step/dir systems > > without > > encoder feedback. The reason is that on index detection, the reported > > position > > on encoders is zeroed, (and motion expects this behavior) this is not > done > > on > > stepgens. The hardware for capturing the index and the stepgen count at > > index is in the firmware, (allowing stepgens to emulate encoder > behaviour) > > but the hm2 driver has no support for this option. > > > > > > > > > > > > I'm using LCNC 2.8.0-pre1-5538-g21d7db0. I was thingking maybe this > > > feature is not allowed with steppers and that's why I can't use it? But > > the > > > homing sequence is actually waiting for that index pulse so I don't > think > > > this is the case. > > > > > > I'm surely missing something here, but without your help I'm a little > bit > > > lost. > > > > > > As always thank you for your support! > > > > > > _______________________________________________ > > > Emc-users mailing list > > > [email protected] > > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > > > > Peter Wallace > > Mesa Electronics > > > > (\__/) > > (='.'=) This is Bunny. Copy and paste bunny into your > > (")_(") signature to help him gain world domination. > > > > > > > > _______________________________________________ > > Emc-users mailing list > > [email protected] > > https://lists.sourceforge.net/lists/listinfo/emc-users > > > > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > > Peter Wallace > Mesa Electronics > > (\__/) > (='.'=) This is Bunny. Copy and paste bunny into your > (")_(") signature to help him gain world domination. > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
