"Immidiate Homing" not working
- blazini36
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25 Mar 2023 12:41 #267467
by blazini36
"Immidiate Homing" not working was created by blazini36
I'm working on a new Qt UI and it's not connected to hardware yet so I'm trying to get null or "Immediate Homing" working. Looking at the docs it looks like "HOME equals to HOME_OFFSET" is something new, I don't remember using that last time I did this. My ini setup:
I'm getting following errors on these joints
The PID output and feedback are disconnected in HAL because they obviously go to hardware. Might be able to get away with connecting command to feedback but I would think that would defeat the purpose of immediate homing
#********************
# Axis X
#********************
[AXIS_X]
MAX_VELOCITY = 6
MAX_ACCELERATION = 15
[JOINT_0]
TYPE = LINEAR
HOME = 10.325
FERROR = 0.5
MIN_FERROR = 0.1
MAX_VELOCITY = 6
MAX_ACCELERATION = 15
# 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 = 8
STEPGEN_MAXACCEL = 20
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 7500
DIRHOLD = 2000
STEPLEN = 7500
STEPSPACE = 1000
STEP_SCALE = -3446.67
#HOME_OFFSET = -0.2500000
#HOME_SEARCH_VEL = -0.7
#HOME_LATCH_VEL = -0.2
#HOME_FINAL_VEL = 1
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = 0
#Null Homing
HOME_OFFSET = -0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME equals to HOME_OFFSET
HOME_SEQUENCE = 0I'm getting following errors on these joints
joint 0 following error
emc/task/taskintf.cc 976: Error on joint 0, command number 122
emc/task/taskintf.cc 976: Error on joint 1, command number 122
joint 1 following errorThe PID output and feedback are disconnected in HAL because they obviously go to hardware. Might be able to get away with connecting command to feedback but I would think that would defeat the purpose of immediate homing
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- blazini36
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29 Mar 2023 23:58 #267876
by blazini36
Replied by blazini36 on topic "Immidiate Homing" not working
Bump.....cuz I'm still trying to figure this out
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- cmorley
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30 Mar 2023 02:28 #267880
by cmorley
Replied by cmorley on topic "Immidiate Homing" not working
it says here:
linuxcnc.org/docs/2.9/html/config/ini-ho...ml#_immediate_homing
HOME and HOME_OFFSET must be the same.
Other wise after immediate homing - it will go to the final home position
Your file says:
HOME = 10.325
HOME_OFFSET = -0
So I would expect it to try to move positively 10.325 units after immediate homing.
Chris
linuxcnc.org/docs/2.9/html/config/ini-ho...ml#_immediate_homing
HOME and HOME_OFFSET must be the same.
Other wise after immediate homing - it will go to the final home position
Your file says:
HOME = 10.325
HOME_OFFSET = -0
So I would expect it to try to move positively 10.325 units after immediate homing.
Chris
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- blazini36
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30 Mar 2023 03:49 #267884
by blazini36
Replied by blazini36 on topic "Immidiate Homing" not working
Ahh, yeah that sounds about right. Kind of easy to miss the way it's worded in "note:" but it is there.
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