Stepper - homing plus index encoder v2.9 no encoder reset ini flag

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10 Jul 2021 09:48 #214170 by tommylight
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10 Jul 2021 10:37 #214171 by evengravy
Perfect. Mesa is flashed, didn't encounter any issues there. Thanks again for this PCW. I did a quick test of the existing functionality and everything is working just fine. Lastly I just have to configure it.

So on the INI side I need to set HOME_USE_INDEX = YES and set HOME_INDEX_NO_ENCODER_RESET = YES

On the HAL side, could you direct me to any info of what would be needed there to make the relevant net connections?

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10 Jul 2021 17:05 - 10 Jul 2021 17:11 #214195 by PCW
HOME_INDEX_NO_ENCODER_RESET = YES
Makes no sense here

In the hal file, motions per joint index enables need to connect to
the corresponding stepgens index enables and the PID index enable pins
Last edit: 10 Jul 2021 17:11 by PCW.

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10 Jul 2021 18:13 #214201 by evengravy
Hey,

"HOME_INDEX_NO_ENCODER_RESET = YES
Makes no sense here"

Okay I'll leave out. Thanks.

So "motions per joint index enable" would be "joint.n.index-enable" is that right? Or something else?

The stepgen index enable I haven't come across before, does this have a built in naming structure i.e. stepgen.n.index-enable (similar to encoder.n.index-enable mentioned in the previously mentioned docs) or do I reference the gpio input pin directly here?

I see that pid.x.index-enable is tied to x-index-enable so I can see that clearly.

Sorry for all the confusion, since this is brand new functionality I'm a bit lost to be honest.

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10 Jul 2021 18:24 #214203 by PCW
Yes, something like

hm2_7i96.0.stepgen.00.index-enable

If you want to know all stepgen related pins and parameters, you can type

halcmd show all hm2_7i96.0.stepgen

in a terminal window
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10 Jul 2021 18:53 - 10 Jul 2021 18:54 #214207 by evengravy
I found I have hm2_7i96.0.stepgen.00.index-enable and hm2_7i96.0.stepgen.01.index-enable. Thanks.

Does this look right then:

net Xindex-enable hm2_7i96.0.stepgen.00.index-enable <=> joint.0.index-enable

net Index-enable hm2_7i96.0.stepgen.01.index-enable <=> joint.1.index-enable

(I haven't made any linkages to the gpio pins as I assume that is handled on the firmware now is that correct?)

There is already a linkage to the PID in the main HAL file:
net x-index-enable <=> pid.x.index-enable
net z-index-enable <=> pid.z.index-enable

Are those okay as is or do I need to link to those also?
Last edit: 10 Jul 2021 18:54 by evengravy.

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10 Jul 2021 19:15 - 10 Jul 2021 20:20 #214209 by evengravy
Hey,

I gave this a try and it seems to work as expected. Moves to switch then to index before homing/zero. Thanks a lot PCW.

I didn't make any new net linkages to pid. I just added the lines as above to custom HAL.

I really appreciate your help on this PCW, support is over and above what I would expect. I just went and bought another 7i96 for my router, I'll never use a BOB again.

One small related question, if you don't mind: is there the ability to choose the direction of travel the controller takes when searching for the proximity, or is that fixed. On my Z axis it moves into the switch when searching for the proximity, but moves visa versa on the X axis. It doesn't matter a huge amount, I'm just a little OCD.

Thanks to you also Tommy, appreciated!
Last edit: 10 Jul 2021 20:20 by evengravy.
The following user(s) said Thank You: tommylight

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10 Jul 2021 21:13 #214215 by PCW
You can change all the directions by changing the signs of the various homing velocities:

linuxcnc.org/docs/html/config/ini-homing.html#_homing_sequence

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10 Jul 2021 21:29 - 10 Jul 2021 21:30 #214219 by evengravy
Ah okay, I'll have a play around. I knew this was the case for home search vel.

It's homing against main switch correctly but once it triggers moving away from switch to hit the index sensor. Im guessing i need to invert the home latch vel sign on that axis then. I'll play around tomorrow. Ty
Last edit: 10 Jul 2021 21:30 by evengravy.

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