[solved] change axis-limits through hal-pins

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01 Apr 2020 23:20 - 01 Apr 2020 23:27 #162404 by Aciera
The creation of kinematics switching has opened a number of new possibilities. One problem I have been struggling with is the fact that with switching kinematics the axis-limits set in the INI also need to be adjusted.
So I recently started a topic that I deleted before anybody could answer because I thought I had found the solution when I found the ini.N.min_limit and ini.N.max_limit HAL-pins.

I thought it was worth reposting this question as solved since dgarrett has kindly provided detailed information regarding this in another thread:

@Aciera re: ini hal pins

Is there a way to alter the min- and max-axis limits


ini hal pins are available for both JOINT_N and AXIS_L
MIN_LIMIT,MAX_LIMIT,MAX_ACCELERATION, MAX_VELOCITY

See the milltask man page (especially notes at bottom):
linuxcnc.org/docs/master/html/man/man1/milltask.1.html

In general, an interp-motion sync is needed for ini hal pins
to be recognized for subsequent motion but the sync is
needed to switch kins types anyway.

Recent dgarr/s_kins docs (not commited yet):
www.panix.com/~dgarrett/stuff/switchkins.html
See 3.3 Inifile Limit settings

And intree examples for M128,...:
github.com/LinuxCNC/linuxcnc/blob/dgarr/...ach/puma/mcodes/M128

Last edit: 01 Apr 2020 23:27 by Aciera.
The following user(s) said Thank You: tommylight, bbsr_5a

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02 Apr 2020 06:50 - 02 Apr 2020 06:55 #162426 by bbsr_5a
solved with no relpay is cool Than you

Question doent the Interpreter make a error if thel imits on the Axis side differ to the joint side
Last edit: 02 Apr 2020 06:55 by bbsr_5a.

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02 Apr 2020 15:23 #162452 by Aciera
No, having different limit values for axis and joints is no problem.

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23 Dec 2021 20:17 #229829 by szary11
Gents,

I need some help. For tool change I have to change max limit of Z axis from 0 to 140, perform the toolchange and then switch it back to original one.
I have used ini.z.max_limit and that seems to be set ok, I see the borders of working space reflected on axis visual window and the pin value change on Show HAL Configuration menu.
But still, motion seems to be unaware of limits change, whenever I try to move Z into positive values, it throws me an error "joint position exceeding positive limit".

I've tried to sync kinematics by issuing M66 E0 L0 according to above attached links, but no luck, still no change.

Any idea on what else is missing?

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24 Dec 2021 12:28 #229878 by tommylight
@szary11
No triple posting, makes it very hard to follow what has been answered and what not.

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24 Dec 2021 13:08 - 24 Dec 2021 13:09 #229882 by Aciera
You have to deal with 'axis'- AND 'joint'-limits.
Last edit: 24 Dec 2021 13:09 by Aciera.

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24 Dec 2021 14:50 #229891 by szary11
@Aciera, many thanks for that! Indeed I had set up axis Z only, without joint. I will check if it works now

@tommylight, apologies. I was desperate to set the machine up before christmass! :)

Merry christmass gents!

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