going past Limit + home switch when trying to home
- Craig E
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17 Jun 2021 14:04 #212276
by Craig E
going past Limit + home switch when trying to home was created by Craig E
Hello all, I have finally have my machine together and working through the bugs. but I am stuck on one issue and I can't get past it.
When I try to home any axis it will stop at the limit switch for a short time and then start moving past the switch. the Switches are working it shows they are at the limit on the display. I have to stop the machine to stop it moving. then I can't move it after I restart because it is past the limit. I am sure I have something set up wrong but I don't know what it could be.
This is a 3 axis machine XYYZ configuration.
Y axis has mechanical sw and the other axis are PNP prox switches all are normally closed.
my axis are setup with Minus limit + Home for all 3 axis. so all moves are positive from 0,0,0
I only have the total travel set all else are at 0. I believe that this should stop at 0.0.0 and be ready to run. but it keeps going negative until I stop the machine.
When I try to home any axis it will stop at the limit switch for a short time and then start moving past the switch. the Switches are working it shows they are at the limit on the display. I have to stop the machine to stop it moving. then I can't move it after I restart because it is past the limit. I am sure I have something set up wrong but I don't know what it could be.
This is a 3 axis machine XYYZ configuration.
Y axis has mechanical sw and the other axis are PNP prox switches all are normally closed.
my axis are setup with Minus limit + Home for all 3 axis. so all moves are positive from 0,0,0
I only have the total travel set all else are at 0. I believe that this should stop at 0.0.0 and be ready to run. but it keeps going negative until I stop the machine.
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- Aciera
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17 Jun 2021 14:59 #212277
by Aciera
Replied by Aciera on topic going past Limit + home switch when trying to home
Can you post your hal and ini files?
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- Craig E
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17 Jun 2021 15:54 - 18 Jun 2021 15:30 #212280
by Craig E
Replied by Craig E on topic going past Limit + home switch when trying to home
Here is my HAL file
# Generated by PNCconf at Wed Jun 16 19:39:07 2021
# Using LinuxCNC version: 2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=0 num_pwmgens=0 num_stepgens=5 sserial_port_0=0xxxxx"
setp [HMOT](CARD0).watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s
addf [HMOT](CARD0).read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.y2.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf [HMOT](CARD0).write servo-thread
# external output signals
# external input signals
# --- ESTOP-EXT ---
net estop-ext <= [HMOT](CARD0).gpio.000.in
# --- MIN-HOME-Y ---
net min-home-y <= [HMOT](CARD0).gpio.001.in_not
# --- MIN-HOME-Y2 ---
net min-home-y2 <= [HMOT](CARD0).gpio.002.in_not
# --- MIN-HOME-X ---
net min-home-x <= [HMOT](CARD0).gpio.003.in_not
# --- MIN-HOME-Z ---
net min-home-z <= [HMOT](CARD0).gpio.004.in_not
# --- MAX-Y ---
net max-y <= [HMOT](CARD0).gpio.005.in_not
# --- MAX-X ---
net max-x <= [HMOT](CARD0).gpio.006.in_not
# --- MAX-Z ---
net max-z <= [HMOT](CARD0).gpio.007.in_not
#*******************
# AXIS X JOINT 0
#*******************
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.x.maxerror 0.000500
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp [HMOT](CARD0).stepgen.00.dirhold [JOINT_0]DIRHOLD
setp [HMOT](CARD0).stepgen.00.steplen [JOINT_0]STEPLEN
setp [HMOT](CARD0).stepgen.00.stepspace [JOINT_0]STEPSPACE
setp [HMOT](CARD0).stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp [HMOT](CARD0).stepgen.00.step_type 0
setp [HMOT](CARD0).stepgen.00.control-type 1
setp [HMOT](CARD0).stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= [HMOT](CARD0).stepgen.00.velocity-cmd
net x-pos-fb <= [HMOT](CARD0).stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => [HMOT](CARD0).stepgen.00.enable
# ---setup home / limit switch signals---
net min-home-x => joint.0.home-sw-in
net min-home-x => joint.0.neg-lim-sw-in
net max-x => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y.maxerror 0.000500
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp [HMOT](CARD0).stepgen.01.dirhold [JOINT_1]DIRHOLD
setp [HMOT](CARD0).stepgen.01.steplen [JOINT_1]STEPLEN
setp [HMOT](CARD0).stepgen.01.stepspace [JOINT_1]STEPSPACE
setp [HMOT](CARD0).stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp [HMOT](CARD0).stepgen.01.step_type 0
setp [HMOT](CARD0).stepgen.01.control-type 1
setp [HMOT](CARD0).stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= [HMOT](CARD0).stepgen.01.velocity-cmd
net y-pos-fb <= [HMOT](CARD0).stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => [HMOT](CARD0).stepgen.01.enable
# ---setup home / limit switch signals---
net min-home-y => joint.1.home-sw-in
net min-home-y => joint.1.neg-lim-sw-in
net max-y => joint.1.pos-lim-sw-in
#*******************
# Tandem AXIS Y2 JOINT 2
#*******************
setp pid.y2.Pgain [JOINT_2]P
setp pid.y2.Igain [JOINT_2]I
setp pid.y2.Dgain [JOINT_2]D
setp pid.y2.bias [JOINT_2]BIAS
setp pid.y2.FF0 [JOINT_2]FF0
setp pid.y2.FF1 [JOINT_2]FF1
setp pid.y2.FF2 [JOINT_2]FF2
setp pid.y2.deadband [JOINT_2]DEADBAND
setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.y2.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.y2.maxerror 0.000500
net y2-index-enable <=> pid.y2.index-enable
net y2-enable => pid.y2.enable
net y2-pos-cmd => pid.y2.command
net y2-pos-fb => pid.y2.feedback
net y2-output <= pid.y2.output
# Step Gen signals/setup for tandem axis
setp [HMOT](CARD0).stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp [HMOT](CARD0).stepgen.02.dirhold [JOINT_2]DIRHOLD
setp [HMOT](CARD0).stepgen.02.steplen [JOINT_2]STEPLEN
setp [HMOT](CARD0).stepgen.02.stepspace [JOINT_2]STEPSPACE
setp [HMOT](CARD0).stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp [HMOT](CARD0).stepgen.02.step_type 0
setp [HMOT](CARD0).stepgen.02.control-type 1
setp [HMOT](CARD0).stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y2-pos-cmd <= joint.2.motor-pos-cmd
net y2-vel-cmd <= joint.2.vel-cmd
net y2-output <= [HMOT](CARD0).stepgen.02.velocity-cmd
net y2-pos-fb <= [HMOT](CARD0).stepgen.02.position-fb
net y2-pos-fb => joint.2.motor-pos-fb
net y2-enable <= joint.2.amp-enable-out
net y2-enable => [HMOT](CARD0).stepgen.02.enable
# ---setup home / limit switch signals---
net min-home-y2 => joint.2.home-sw-in
net min-home-y2 => joint.2.neg-lim-sw-in
net y2-pos-limit => joint.2.pos-lim-sw-in
#*******************
# AXIS Z JOINT 3
#*******************
setp pid.z.Pgain [JOINT_3]P
setp pid.z.Igain [JOINT_3]I
setp pid.z.Dgain [JOINT_3]D
setp pid.z.bias [JOINT_3]BIAS
setp pid.z.FF0 [JOINT_3]FF0
setp pid.z.FF1 [JOINT_3]FF1
setp pid.z.FF2 [JOINT_3]FF2
setp pid.z.deadband [JOINT_3]DEADBAND
setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT
setp pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.z.maxerror 0.000500
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp [HMOT](CARD0).stepgen.03.dirsetup [JOINT_3]DIRSETUP
setp [HMOT](CARD0).stepgen.03.dirhold [JOINT_3]DIRHOLD
setp [HMOT](CARD0).stepgen.03.steplen [JOINT_3]STEPLEN
setp [HMOT](CARD0).stepgen.03.stepspace [JOINT_3]STEPSPACE
setp [HMOT](CARD0).stepgen.03.position-scale [JOINT_3]STEP_SCALE
setp [HMOT](CARD0).stepgen.03.step_type 0
setp [HMOT](CARD0).stepgen.03.control-type 1
setp [HMOT](CARD0).stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
setp [HMOT](CARD0).stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.3.motor-pos-cmd
net z-vel-cmd <= joint.3.vel-cmd
net z-output <= [HMOT](CARD0).stepgen.03.velocity-cmd
net z-pos-fb <= [HMOT](CARD0).stepgen.03.position-fb
net z-pos-fb => joint.3.motor-pos-fb
net z-enable <= joint.3.amp-enable-out
net z-enable => [HMOT](CARD0).stepgen.03.enable
# ---setup home / limit switch signals---
net min-home-z => joint.3.home-sw-in
net min-home-z => joint.3.neg-lim-sw-in
net max-z => joint.3.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
Last edit: 18 Jun 2021 15:30 by andypugh. Reason: Code Tags
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- Craig E
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17 Jun 2021 15:56 - 18 Jun 2021 15:31 #212281
by Craig E
Replied by Craig E on topic going past Limit + home switch when trying to home
Here is my INI file
# Generated by PNCconf at Wed Jun 16 19:39:07 2021
# Using LinuxCNC version: 2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = HOME_TEST
DEBUG = 0
VERSION = 1.1
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/pi/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
MIN_LINEAR_VELOCITY = 0.016670
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 2000000
[HMOT]
CARD0=hm2_7i96.0
[HAL]
HALUI = halui
HALFILE = HOME_TEST.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH
[TRAJ]
COORDINATES = XYYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
POSITION_FILE = position.txt
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#******************************************
[AXIS_X]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.001
MAX_LIMIT = 42.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 1.25
STEPGEN_MAXACCEL = 37.50
P = 500.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 10000
STEPSPACE = 10000
STEP_SCALE = 8127.9997
MIN_LIMIT = -0.001
MAX_LIMIT = 42.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************
#******************************************
[AXIS_Y]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.001
MAX_LIMIT = 20.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 1.25
STEPGEN_MAXACCEL = 37.50
P = 500.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 10000
STEPSPACE = 10000
STEP_SCALE = 8127.9997
MIN_LIMIT = -0.001
MAX_LIMIT = 20.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -2
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 1.25
STEPGEN_MAXACCEL = 37.50
P = 500.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 10000
STEPSPACE = 10000
STEP_SCALE = 8127.9997
MIN_LIMIT = -0.001
MAX_LIMIT = 20.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -2
#******************************************
#******************************************
[AXIS_Z]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.001
MAX_LIMIT = 10.0
[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 1.25
STEPGEN_MAXACCEL = 37.50
P = 500.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 10000
STEPSPACE = 10000
STEP_SCALE = -8127.9997
MIN_LIMIT = -0.001
MAX_LIMIT = 10.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#******************************************
[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000
Last edit: 18 Jun 2021 15:31 by andypugh. Reason: Code Tags
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17 Jun 2021 16:05 - 17 Jun 2021 17:26 #212282
by PCW
Replied by PCW on topic going past Limit + home switch when trying to home
See section 4 of: linuxcnc.org/docs/html/config/ini-homing.html
You need at the minimum:
1. A home latch velocity in the opposite direction of home search velocity.
2. A non-zero home offset value (otherwise your reference position will be on the limit/home switch).
3. A non-zero home final velocity.
You need at the minimum:
1. A home latch velocity in the opposite direction of home search velocity.
2. A non-zero home offset value (otherwise your reference position will be on the limit/home switch).
3. A non-zero home final velocity.
Last edit: 17 Jun 2021 17:26 by PCW.
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17 Jun 2021 18:55 #212286
by Craig E
Replied by Craig E on topic going past Limit + home switch when trying to home
Thanks @PCW I read that section over and over I still confused I
I have tried a number of combinations. so if I am homing in - direction I need to set the latch Velocity in + do you have a value for it? should I use the same as homing?
I have tried a number of combinations. so if I am homing in - direction I need to set the latch Velocity in + do you have a value for it? should I use the same as homing?
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17 Jun 2021 19:05 - 17 Jun 2021 19:06 #212288
by PCW
Replied by PCW on topic going past Limit + home switch when trying to home
Yes, if you are homing in the -direction (search velocity is -nnn)
then the latch velocity should be positive (so it backs off the switch)
Normally the search velocity would be higher than the latch velocity
just to save time when homing, then the latch move would be done
at a slow speed for the best accuracy.
Finally you need a home offset value (and home velocity) so the actual
reference point is not right on top of your limit switch.
then the latch velocity should be positive (so it backs off the switch)
Normally the search velocity would be higher than the latch velocity
just to save time when homing, then the latch move would be done
at a slow speed for the best accuracy.
Finally you need a home offset value (and home velocity) so the actual
reference point is not right on top of your limit switch.
Last edit: 17 Jun 2021 19:06 by PCW.
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17 Jun 2021 20:14 #212290
by Craig E
Replied by Craig E on topic going past Limit + home switch when trying to home
Thanks I will try that tonight.
I knew this was going to be a big learning curve but I thought I could figure out homing. I was wrong!
Thanks again.
I knew this was going to be a big learning curve but I thought I could figure out homing. I was wrong!
Thanks again.
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18 Jun 2021 17:16 #212348
by Craig E
Replied by Craig E on topic going past Limit + home switch when trying to home
I am still having the same issue when trying to home it keeps going past the limits.
I was also wondering if it is normal to start Homing on the z axis? I would have guessed that it would start on x which is my 0 joint. Z is my 3 joint.
Anyway I changed the Latching direction and latching speed and Home offset but no effect.
I have attache my updated hal and ini files.
Any and all help is appreciated.
I was also wondering if it is normal to start Homing on the z axis? I would have guessed that it would start on x which is my 0 joint. Z is my 3 joint.
Anyway I changed the Latching direction and latching speed and Home offset but no effect.
I have attache my updated hal and ini files.
Any and all help is appreciated.
Attachments:
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18 Jun 2021 20:27 #212356
by PCW
Replied by PCW on topic going past Limit + home switch when trying to home
Did you verify the the home switches work (with halshow)
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