Starting sequence

RomainM wrote:

I guess that I should use classic Ladder to configure this sequence.

No need for Classic Ladder, you can do it all in HAL with simple logic.

loadrt logic names=home-logic personality=0x502
...
addf home_logic servo-thread
...
net button-in parport.0.pin-01-in home-logic.in-00
net home-state halui.joint.0.is-homed home-logic.in-01
net home-cmd home-logic.xor halui.home-all
net run-cmd home-logic.and halui.program.run

This is off the top of my head, some pin names may be wrong, and it is assuming a parport pin for the button, not your arduino.

What machine do you have? Switching to World mode is normally only necessary on unusual machines.
To switch to World mode neatly, using the Axis interface, you can make a small change to Axis to add a HAL pin with equivalent function to the $ key:
A patched version of axis.py is attached to the mailing list message here:
osdir.com/ml/emc-users-enhanced-machine-...012-11/msg00122.html
I can't find a way to display the whole thread, you might want to explore up-thread and down-thread to get the context.

Andy,

How do you calculate the personality?
I see this in the man page:
The number of input pins, usually from 2 to 16
256 (0x100) if the ’and’ output is desired
512 (0x200) if the ’or’ output is desired
1024 (0x400) if the ’xor’ (exclusive or) output is desired

I can't figure out how you got 0x502 from the above... 0x502 converted to decimal is 1282 according to my google converter.

John

BigJohnT wrote:

The number of input pins, usually from 2 to 16
256 (0x100) if the ’and’ output is desired
512 (0x200) if the ’or’ output is desired
1024 (0x400) if the ’xor’ (exclusive or) output is desired
I can't figure out how you got 0x502 from the above... 0x502 converted to decimal is 1282 according to my google converter.

We want 2 pins, and both the AND and XOR outputs.
So that is 0x2 + 0x100 + 0x400 = 0x502
Or, in decimal, 2 + 256 + 1024 = 1282.

andypugh wrote:

BigJohnT wrote:

The number of input pins, usually from 2 to 16
256 (0x100) if the ’and’ output is desired
512 (0x200) if the ’or’ output is desired
1024 (0x400) if the ’xor’ (exclusive or) output is desired
I can't figure out how you got 0x502 from the above... 0x502 converted to decimal is 1282 according to my google converter.

We want 2 pins, and both the AND and XOR outputs.
So that is 0x2 + 0x100 + 0x400 = 0x502
Or, in decimal, 2 + 256 + 1024 = 1282.

Now that makes sense, I had no clue from reading the docs that you could have more than one type of outputs.

Thanks
John

BigJohnT wrote:

Now that makes sense, I had no clue from reading the docs that you could have more than one type of outputs.

I used it in this example precisely because of that, so that we have the XOR and the AND both available.

I don't really see the point in making output pins optional. The function could just as easily always compute all the outputs.

cncbasher wrote:

am I correct we need a latch of some kind and or possibly an invert to the input .

Yes, some sort of latch may be needed.
I had rather assumed that the homing sequence started on the rising edge of the home-request pin and ran to completion.

my switches are inverted due to using a mesa card .

The Mesa inputs should all have an input-not pin with the inverse logic.
You need a pin which is low until you press the button.