7i92T and mx3660 request for help

Set velocities low – less than half of previous values – no luck - started “playing” again changing other items as it appeared to me that some thing was interfering with the switch signals.

 had to back off the ballscrew for the Y axis by hand each time as it would hit the limit switch and lock right there. No over ride limits would allow me to jog it away, but that does work for the X and Z - can jog them away after over ride limits.

So tried commenting out stuff just to find what was interfering and - in HAL did the following:

1. commented out ESTOP would not allow me to enable the machine even though the ESTOP position does nothing when tripped to the AXIS display
2. commented out probe lines but did not make a difference so re-enabled
3. commented out coolant - made no difference but I do not have coolant so left commented out

THIS DID make a difference:   left X active, commented out Y & Z, then got LIMITED success:         # --- BOTH-HOME-X ---
         net both-home-x <= hm2_7i92.0.gpio.013.in_not         # --- MAX-HOME-Y ---
         # net max-home-y <= hm2_7i92.0.gpio.014.in_not        # --- BOTH-HOME-Z ---
        # net both-home-z <= hm2_7i92.0.gpio.015.in_notthis did get me an X axis home, with to limit switch then return, limit return latch and then backed off to ZERO and DRO displayed homed - but then immediately after homing gave me an “joint 0 on limit switch error”can someone tell me – I picked “machine actual” in Pnnconf – noticed on the DRO so wondering should I have picked relative which was in the drop down? Image attached after X homed. Reaching for straws I think but I have changed just about everything I can think of as of this point. I leave notes in the files as I change so I can put them back as they were upon changes.
 
 
 

 

 

Pretty sure that if  you have combined home/limit switches you will need a
HOME setting that's away from the switch actuation point or the ON LIMIT
errors are guaranteed.
 

Understood. I have stated - my Stepconf [before 7i92] setup has run for more than ten years. My setup has limit switches at both ends of travel on all axis, and used a shared home/limits setup.EG - old setup:#*** AXIS_X *******************************
MIN_LIMIT = -0.25
MAX_LIMIT = 36.5
[JOINT_0]
HOME = 0.0
MIN_LIMIT = -0.25
MAX_LIMIT = 36.5
HOME_OFFSET = -0.750000
HOME_SEARCH_VEL = -1.100000
HOME_LATCH_VEL = -0.40000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

NEW setup:

#******************************************
[AXIS_X]
MAX_VELOCITY = 3.0
MAX_ACCELERATION = 2.0
# MAX_VELOCITY = 5.0
# MAX_ACCELERATION = 7.0
MIN_LIMIT = 0.00
MAX_LIMIT = 32.0

[JOINT_0]
TYPE = LINEAR
# increased home position to get it for sure out of too close to switch
HOME = 1.0
FERROR = 10.0
MIN_FERROR = 0.05
MAX_VELOCITY = 3.0
MAX_ACCELERATION = 2.0
# MAX_VELOCITY = 5.0
# MAX_ACCELERATION = 7.0
# 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 = 6.25
STEPGEN_MAXACCEL = 8.75
P = 1000.0
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    = 5000
STEPSPACE  = 5000
STEP_SCALE = -1016.0030642800001
MIN_LIMIT = 0.0
# note here I have limited the travel just to keep the far limit out of the picture
MAX_LIMIT = 32.0
HOME_OFFSET = -0.118
HOME_SEARCH_VEL = .5
HOME_LATCH_VEL = .5
HOME_FINAL_VEL = .5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

Still get an error "joint out....." AFTER homing

 I have setup / changed the numbers per instruction - such as the negative 0.118 [comparable to the 3mm mentioned I should use] and so on following the Linuxcnc diagram below as always.

  I may be thick here - which is why I am asking for help. Feel like I am just missing something or something is missing me! I just don't get it. Willing to do anything. I would have thought this would be simple compared to everything else, but here I am weeks later getting ready to go back to parallel port as a last gasp.Still do not have feedback from the ESTOP either - wired to the mx3660 in NC config - same as limit switches.Sorry - but ?

$100 to anyone that can solve my ESTOP & Shared/home limits else I need to jump back to parallel port or some other os. After all - this should be the simple part - right?  

First come in order, we can take it offline or stay on - one at a time.

I am frustrated so will check later. Can go from there. Already ordered a parallel port card for the new computer so we will see. Got to do what I have to in order to get this running.

Did you verify that all home switch inputs work as expected in halshow?
that is, the motions home  switch pins (like joint.0.home-sw-in ) change from
red to yellow when activated.

You might also check that there is no noise on the switch inputs.
(setting halscope to trigger on the switch active level can catch single cycle noise pulses)


 

Yes, I am just confusing myself now.

Yes, looked at Halshow - never done that before so I read a little and then picked what I thought would give the best info.

So, I re-enabled the Y & Z both home limits. All home switches active. I made sure for each test I over road the limits and enable/active Axis display before moving any switch and I got the following. Screenshot is ENABLED base Halshow.

 

Then I methodically tripped switches + and recorded what happened.

For the limit switches at both ends of each axis:

• joint.0.home-sw-in [my 7i92 X] yellow turns red when either switch tripped, then back to yellow on release
• joint.1.home-sw-in [my 7i92 Y] yellow turns red when either switch tripped, then back to yellow on release
• joint.2.home-sw-in [my 7i92 Z] yellow turns red when either switch tripped, then back to yellow on release

Charge Pump:

• charge-pump.enable yellow
• charge-pump.out                   blinking yellow / red
• hm2_7i92.9.gpio.005.in         blinking yellow / red
• hm2_7i92.9.gpio.005.in_not  blinking yellow / red opposite charge-pump.out
• hm2_7i92.9.gpio.005.out       blinking yellow / red opposite charge-pump.out

probe:

• hm2_7i92.9.gpio.016.in             red turns yellow when probe tripped
• hm2_7i92.9.gpio.016.in_not      yellow turns red when probe tripped
• motion.probe-input                    yellow turns red when probe tripped
• probe-in                                     yellow turns red when probe tripped

ESTOP

• hm2.7i92.0.gpio.003.in            red not change when my ESTOP button active, but changes color when axis display button pushed
• hm2.7i92.0.gpio.003.out          yellow not change when my ESTOP button active, but changes color when axis display button pushed
• hm2.7i92.0.gpio.003.in_not     yellow not change when my ESTOP button active, but changes color when axis display button pushed

If you can provide a few hints, I will check and report on other pins. Appears that ALL axis are enabling as long as I over ride limits, and all limit switches are fine if the color should be yellow when the machine is active.

Again, 7i92 connected with short parallel cord directly to mx3660. All limits and ESTOP run through the mx3660 and then would report back to the 7i92.

Appreciate the input. I now have a few things to learn and can see how Halshow sort of works so will check what I have which isn't much - enable, limit switches, Z probe only, external ESTOP.

Finally, I looked everything over for type mistakes but I am kinda deer in the headlights at this time so ask if you think something does not look right.