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Limit Switch Error

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08 Dec 2022 17:03 #258900 by LittleShorty
Limit Switch Error was created by LittleShorty
Hi,
so I'm in the testing phase and i have a little bit of a problem. There are 3 steppers connected but that is not the issue. Because I'm in the testing phase there are no limit switches connected. Physically this should be the situation in which you power the mill on and all three axis have passed the home switches and staying on the limit switches. So i would like to move the axis by hand but as soon as you set the machine in run mode AND you try to move one axis:
"joint 0 on limit switch error"
"joint 1 on limit switch error"
"joint 2 on limit switch error"
i put in some code, so i don't really what to do next.
[KINS]
JOINTS = 3
KINEMATICS = trivkins kinstype=both coordinates=xyz


[AXIS_X]
MIN_LIMIT = -1
MAX_LIMIT = 1200
MAX_VELOCITY = 100
MAX_ACCELERATION = 5000.0

[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 100
MAX_ACCELERATION = 5000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 100
STEPGEN_MAXACCEL = 5000
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = -1
MAX_LIMIT = 1200
HOME                    = 0
HOME_OFFSET                = 20
HOME_SEQUENCE            = 0

HOME_SEARCH_VEL            = 15.625
HOME_LATCH_VEL            = 15.625

HOME_IGNORE_LIMITS        = YES
HOME_USE_INDEX          = NO




[AXIS_Y]
MIN_LIMIT = -1
MAX_LIMIT = 1200
MAX_VELOCITY = 250
MAX_ACCELERATION = 5000.0


[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 100
MAX_ACCELERATION = 5000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 100
STEPGEN_MAXACCEL = 5000
STEP_SCALE = 1
FERROR = 2
MIN_FERROR = 20
MIN_LIMIT = -1
MAX_LIMIT = 1200
HOME                    = 0
HOME_OFFSET                = 0
HOME_SEQUENCE            = 1
HOME_SEARCH_VEL            = 0
HOME_LATCH_VEL            = 0
HOME_IGNORE_LIMITS        = YES
HOME_USE_INDEX          = NO


[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 50
MAX_ACCELERATION = 1000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 150
STEPGEN_MAXACCEL = 2250
STEP_SCALE = 1
FERROR = 200
MIN_FERROR = 20
MIN_LIMIT = -200
MAX_LIMIT = 0.001
HOME                    = 0
HOME_OFFSET                = 0
HOME_SEQUENCE            = 1
HOME_SEARCH_VEL            = 0
HOME_LATCH_VEL            = 0
HOME_IGNORE_LIMITS        = YES
HOME_USE_INDEX          = NO


[AXIS_Z]
MIN_LIMIT = -200
MAX_LIMIT = 0.001
MAX_VELOCITY = 50
MAX_ACCELERATION = 1000
loadrt not count=6
addf not.0 servo-thread
addf not.1 servo-thread
addf not.2 servo-thread
addf not.3 servo-thread
addf not.4 servo-thread
addf not.5 servo-thread

net Machine.limit.0.ok                 lcec.0.3.in-3         not.0.in
net Machine.limit.0.tripped                             not.0.out

net Machine.limit.1.ok                 lcec.0.4.in-3         not.1.in
net Machine.limit.1.tripped                             not.1.out

net Machine.limit.2.ok                 lcec.0.5.in-3         not.2.in
net Machine.limit.2.tripped                             not.2.out


net Machine.home0                  lcec.0.3.in-4   =>     joint.0.home-sw-in
net Machine.limit.0.tripped                     =>    joint.0.neg-lim-sw-in

net Machine.home1              lcec.0.4.in-4     => joint.1.home-sw-in
net Machine.limit.1.tripped                      => joint.1.pos-lim-sw-in

net Machine.home2               lcec.0.5.in-4   => joint.2.home-sw-in
net Machine.limit.2.tripped                        => joint.2.pos-lim-sw-in
 

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08 Dec 2022 17:39 #258902 by tommylight
Replied by tommylight on topic Limit Switch Error
Several things:
1. Not a 3d printer so machine can not stop on the limit switch after homing procedure.
2. To invert inputs in LinuxCNC, there is no need for all the stuff you added to hal, only adding -not at the end of input pins will do.
3. If there are no limit switches on the machine, do not use them in the configuration, you can add them afterwards at any time.
4. You did mot mention if this is a parallel port or Mesa or Pico setup.
5. In the ini, you should also add
HOME_FINAL_VELOCITY
with some small value.
6. Use
HOME_OFFSET
to have the machine back off of the limit switches after homing, 2 or 3mm are usually enough.
The following user(s) said Thank You: LittleShorty

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08 Dec 2022 19:09 #258909 by LittleShorty
Replied by LittleShorty on topic Limit Switch Error
Hi, i found out the problem. I have wired the limit switches to the ECR60 and configured the limit switches as limit switches in the ECR60. So the machine could not operate.
I reconfigured the Driver and now it works
I will add an offset and final velocity. And try to use -not.

Thank you very much for the replay.
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