soft limits while unhomed
- lumberjack_jeff
- Offline
- Junior Member
-
Less
More
- Posts: 23
- Thank you received: 0
18 Jan 2017 16:30 #86060
by lumberjack_jeff
soft limits while unhomed was created by lumberjack_jeff
After my recent upgrade to 2.8.0 my machine can no longer be jogged back to the home position upon startup. The controller respects the soft limits even when the axes are unhomed.
My 96x48 gantry router does not have home or limit switches, On startup, I return it to x0y0 by manual jogging (for reasons of material handling, I rarely shut the machine off in the 0,0 position) but my soft limits (x+97,-1) and (x+49,-1) prevent it from moving more than one inch back to the lower left corner of the bed.
Desired behavior: allow manual jog - ignoring soft limits - when axes are unhomed.
Can you please help me with the necessary config change?
My 96x48 gantry router does not have home or limit switches, On startup, I return it to x0y0 by manual jogging (for reasons of material handling, I rarely shut the machine off in the 0,0 position) but my soft limits (x+97,-1) and (x+49,-1) prevent it from moving more than one inch back to the lower left corner of the bed.
Desired behavior: allow manual jog - ignoring soft limits - when axes are unhomed.
Can you please help me with the necessary config change?
Please Log in or Create an account to join the conversation.
18 Jan 2017 19:09 #86080
by BigJohnT
Replied by BigJohnT on topic soft limits while unhomed
Change your limits to +- the axis travel.
JT
JT
Please Log in or Create an account to join the conversation.
- lumberjack_jeff
- Offline
- Junior Member
-
Less
More
- Posts: 23
- Thank you received: 0
18 Jan 2017 22:03 #86100
by lumberjack_jeff
Replied by lumberjack_jeff on topic soft limits while unhomed
It defeats the purpose of soft limits if I specify 192" of acceptable travel on an axis 96" long.
Is there no way to recover the functionality of the previous version? (jogging is subject to soft limits only after homing)
Is there no way to recover the functionality of the previous version? (jogging is subject to soft limits only after homing)
Please Log in or Create an account to join the conversation.
18 Jan 2017 23:15 - 18 Jan 2017 23:17 #86104
by BigJohnT
Replied by BigJohnT on topic soft limits while unhomed
I'll ask the developer that did a lot of work on the joint axes branch into master. In the mean time G53 G0 X0 Y0 before shutting down will keep you going. I did verify that on 2.7 you can jog past the soft limits and I confirmed that the behavior has changed in master.
If you can start an issue at github.com/LinuxCNC/linuxcnc/issues that would help.
JT
If you can start an issue at github.com/LinuxCNC/linuxcnc/issues that would help.
JT
Last edit: 18 Jan 2017 23:17 by BigJohnT.
The following user(s) said Thank You: lumberjack_jeff
Please Log in or Create an account to join the conversation.
- lumberjack_jeff
- Offline
- Junior Member
-
Less
More
- Posts: 23
- Thank you received: 0
19 Jan 2017 06:26 #86129
by lumberjack_jeff
Replied by lumberjack_jeff on topic soft limits while unhomed
Bug report submitted.
Fwiw the user docs describe the expected behavior
www.linuxcnc.org/docs/2.7/html/user/user-concepts.html#_homing
Fwiw the user docs describe the expected behavior
www.linuxcnc.org/docs/2.7/html/user/user-concepts.html#_homing
Please Log in or Create an account to join the conversation.
19 Jan 2017 14:57 #86150
by BigJohnT
Replied by BigJohnT on topic soft limits while unhomed
That is the 2.7 docs not the master docs.
After spending some time testing and talking to a developer it is indeed a "feature" of master. I assume you went to master to get some feature that only master has? Are you starting up in "joint mode" then switching to "world mode"? Well it seems like you can't go into world mode without homing so I'm really confused now.
The question I now have are you moving the gantry by hand with the power off? Axis remembers the last position and stores them in postion.txt in your config directory. So on power up you should be able to jog the axis back to the 0 position.
For some reason you can only jog joints in master past the soft limit... I can't understand why you can't jog an axis but the developer gave me a lengthy explanation which I do not fully understand. If you could select more than one joint that would solve the issue.
Please describe in detail what you do after power up and attach your ini file.
JT
After spending some time testing and talking to a developer it is indeed a "feature" of master. I assume you went to master to get some feature that only master has? Are you starting up in "joint mode" then switching to "world mode"? Well it seems like you can't go into world mode without homing so I'm really confused now.
The question I now have are you moving the gantry by hand with the power off? Axis remembers the last position and stores them in postion.txt in your config directory. So on power up you should be able to jog the axis back to the 0 position.
For some reason you can only jog joints in master past the soft limit... I can't understand why you can't jog an axis but the developer gave me a lengthy explanation which I do not fully understand. If you could select more than one joint that would solve the issue.
Please describe in detail what you do after power up and attach your ini file.
JT
Please Log in or Create an account to join the conversation.
- lumberjack_jeff
- Offline
- Junior Member
-
Less
More
- Posts: 23
- Thank you received: 0
19 Jan 2017 15:25 - 19 Jan 2017 15:48 #86155
by lumberjack_jeff
My machine is a 4x8 4-stepper gantry router. I built it in '09 around EMC2 2.3.1. I used it for many years in this configuration without upgrading. I set up a new(er) computer using the Debian Wheezy LinuxCNC distro and began using it this month.
With no home or limit switches, I would rehome the machine upon each startup by jogging to the appropriate position (depending on the workpiece)
"Master version"? I dunno... I obtained internet access in my shop this week and I simply asked synaptic to "update all" and among the other upgrades, linuxcnc 2.8.0 was one of them.
I don't know what "world mode" and "joint mode" are.
I have minimal seat time with this new version - I asked this question when I first noted this new behavior upon initial startup after upgrade - the previous version did not remember the last tool location after shutdown so perhaps this will be a non-issue upon subsequent startups.
When I go back to the shop I'll do some more testing to better answer your questions.
Where do I find the master docs? I don't see them in the wiki.
Are there instructions online to downgrade to a previous version if necessary?
Replied by lumberjack_jeff on topic soft limits while unhomed
My machine is a 4x8 4-stepper gantry router. I built it in '09 around EMC2 2.3.1. I used it for many years in this configuration without upgrading. I set up a new(er) computer using the Debian Wheezy LinuxCNC distro and began using it this month.
With no home or limit switches, I would rehome the machine upon each startup by jogging to the appropriate position (depending on the workpiece)
"Master version"? I dunno... I obtained internet access in my shop this week and I simply asked synaptic to "update all" and among the other upgrades, linuxcnc 2.8.0 was one of them.
I don't know what "world mode" and "joint mode" are.
I have minimal seat time with this new version - I asked this question when I first noted this new behavior upon initial startup after upgrade - the previous version did not remember the last tool location after shutdown so perhaps this will be a non-issue upon subsequent startups.
When I go back to the shop I'll do some more testing to better answer your questions.
Where do I find the master docs? I don't see them in the wiki.
Are there instructions online to downgrade to a previous version if necessary?
Last edit: 19 Jan 2017 15:48 by lumberjack_jeff.
Please Log in or Create an account to join the conversation.
19 Jan 2017 16:45 - 19 Jan 2017 16:46 #86165
by BigJohnT
Replied by BigJohnT on topic soft limits while unhomed
Looks like the configuration script left out the necessary bits for jogging with no home switches.
to make work with jog before homing:
a) use 'immediate homing' on all joints
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
b) use [KINS]KINEMATICS=trivkins kinstype=B
to make work with jog before homing:
a) use 'immediate homing' on all joints
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
b) use [KINS]KINEMATICS=trivkins kinstype=B
[KINS]
# USE kinstype=B
KINEMATICS = trivkins kinstype=B
#This is a best-guess at the number of joints, it should be checked
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -1
MAX_LIMIT = 99.0
MAX_VELOCITY = 7.60009314674
MAX_ACCELERATION = 12.5
[JOINT_0]
# IMMEDIATE HOMING:
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 7.60009314674
MAX_ACCELERATION = 12.5
STEPGEN_MAXACCEL = 15.625
SCALE = 2037.347204161
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -1
MAX_LIMIT = 99.0
HOME_OFFSET = 0.0
[AXIS_Y]
MIN_LIMIT = -1
MAX_LIMIT = 52.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 10.0
[JOINT_1]
# IMMEDIATE HOMING:
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 10.0
STEPGEN_MAXACCEL = 12.5
SCALE = 2037.347204161
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -1
MAX_LIMIT = 52.0
HOME_OFFSET = 0.0
[AXIS_Z]
MIN_LIMIT = -3.0
MAX_LIMIT = 7
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
[JOINT_2]
# IMMEDIATE HOMING:
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 10.0
STEPGEN_MAXACCEL = 12.5
SCALE = 4815.593445
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -3.0
MAX_LIMIT = 7
HOME_OFFSET = 0.0
Last edit: 19 Jan 2017 16:46 by BigJohnT.
The following user(s) said Thank You: lumberjack_jeff
Please Log in or Create an account to join the conversation.
- lumberjack_jeff
- Offline
- Junior Member
-
Less
More
- Posts: 23
- Thank you received: 0
21 Jan 2017 00:17 #86321
by lumberjack_jeff
Replied by lumberjack_jeff on topic soft limits while unhomed
Works perfectly! Thanks!
Please Log in or Create an account to join the conversation.
Time to create page: 0.102 seconds