Gantry machine progress

Yannis wrote:

I change the value
now i have X=2 Y1=-1 Y2=-1 Z=1 C=2
the result is first homing Y1,Y2,Z simultaneous and then the X and C

You should use home order numbering like this:
X=3 Y1=-2 y2=-2 Z=1 C=3

All of the Joints are homed in the order of the absolute values assigned here. Joints who's absolute values are equal will be homed simultaneously. Joints with equal negative values will do synchronized homing, such as what is needed for two axis on a gantry machine.

The difference between simultaneous and synchronized homing, is the simultaneous homing Joints start moving together, but don't wait for each other. When one encounters a home switch, it immediately finishes it's home sequence, including a rapid move to the final home position. In the synchronized homing, all synchronized joints wait at each home switch trigger event until all of the synchronized joints have triggered their switches, then they all move to their final home position together.

If you wanted Z to home first then all of the other joints to home together (including the two synchronized joints, use X=2 Y1=-2 Y2=-2 Z=1 C=2
(I don't really care for using 0 because the idea possibly needing to use -0 just seems silly. )

in the C axis (Joint 4) i want to change the direction of rotation
to do that i change the OUTPUT_SCALE = 10 to OUTPUT_SCALE = -10
after that adjustment the motor fault
# Joint 4
[JOINT_4]
#********************
TYPE = ANGULAR
HOME = 0.0
FERROR = 2.5
MIN_FERROR = 0.5
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 6.0
P = 1.25
I = 0
D = 0
FF0 = 0
FF1 = 0.035
FF2 = 0
BIAS = 0
DEADBAND = 0.001
MAX_OUTPUT = 10
ENCODER_SCALE = 800
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
any suggestions??

As i understand from the explanation of Todd Zuercher the synchronized homing of axis with 2 motors is the negative sing (-)
following by the same number for the sequence

Yannis wrote:

As i understand from the explanation of Todd Zuercher the synchronized homing of axis with 2 motors is the negative sing (-)
following by the same number for the sequence

Yes, that is correct. Then you can use the HOME_OFFSET to square the gantry. eg. Get it close by eye, home the machine and measure the position each side. If there is an error, change the home offset for one side

Yannis wrote:

in the C axis (Joint 4) i want to change the direction of rotation
to do that i change the OUTPUT_SCALE = 10 to OUTPUT_SCALE = -10
after that adjustment the motor fault

You also need to change the encoder scale to -800

(I don't really care for using 0 because the idea possibly needing to use -0 just seems silly. )

Tod Just for my sanity I answered above with a zero because the man. stated "HOME_SEQUENCE numbers start with 0 and there may be no unused numbers." Does this mean it has changed in the latest versions? If so I suppose the Man wants updating. But first I thank you for all the info you provide to the forum

I don't know for sure. That might be true. But homing does work in Master without having any joints assigned to home sequence 0.

Clive: Thanks for reading the docs and mentioning the discrepancy.

Updated documentation for revised restriction applicable to the master branch:
github.com/LinuxCNC/linuxcnc/commit/c3d0...7f052d905603f946a4f6

As far as i remember, in 2.7, starting sequence of 0 is still required.

Clive wrote:

Tod Just for my sanity

Clive,
I've only ever used master branch. Your statement tested my sanity too. I didn't think it was right at the time so I went back through my archive of configs and my first working config had HOME_SEQUENCE = 1 on all axes.

Once again, Dewey has shown how responsive support is for LinuxCNC with a bug updated 75 minutes after it was reported! The Dev team are really amazing guys. Thanks Dewey.

Hi
now i have X=1, Y1=-1 ,Y2=-1 Z=0 C=1
the result is first homing only the Z axis and after that all the other axis together
i work many reliefs and my g code some time is very large files
i wool like to now the procedure to to run a file from a certain line
(in mach3 that is the run from here)
i try to select a line to run i file from the middle with no result
any suggestions?