Can't get home!
The Y axis is configured to have the pos limit also be the home switch. The .ini file is set to "HOME_IGNORE_LIMITS = YES". When I try to home Y it hits the pos limit and throws a joint 1 following error. I can override the limit and back off of it, but the control is not ignoring it. I have read all the helps and instructions and changed the all the variables until I can't think of another combination. I just can't seem to get home.
I've attached the .hal and .ini files as of my last attempt. Please show me the error of my ways. Thanks
File Attachment:File Name: Hurco_MD3-...42a6.hal
File Size:14 KB
The Y axis is configured to have the pos limit also be the home switch.
I vaguely recall that homing to the positive limit switch is slightly harder than a negative limit switch.
I am fairly sure you would need a negative HOME_OFFSET. I would suggest ignoring the numbers initially and work through the signs.
Sorry not to be much help, but it's been a while since I configured homing.
Home = where you want to end up after homing.
Home Offset = the value given to the Home limit switch position.
Min and Max Limits = the soft limits.
Based on the above, my .ini file for Y looks like this:
# Axis Y
TYPE = LINEAR
HOME = 0.0
FERROR = 0.01
MIN_FERROR = 0.005
MAX_VELOCITY = 3.33333333333
MAX_ACCELERATION = 2.0
P = 15.0
I = 0.125
D = 0.007
FF0 = 0.0
FF1 = 0.12
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
ENCODER_SCALE = 25400.0
OUTPUT_SCALE = -1.0
MAX_OUTPUT = 10.0
MIN_LIMIT = 0.0
MAX_LIMIT = 18.0
HOME_OFFSET = -.1
HOME_SEARCH_VEL = -0.166667
HOME_LATCH_VEL = 0.016667
HOME_FINAL_VEL = 0.166667
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
This says that Y0.0 is home and the minimum soft limit, Y18.0 is the maximum soft limit, and Y-0.1 is the position of the home and minimum hard limit. The latch and final velocities are in the opposite direction from the search velocity.
When I try to home Y, it goes to the negative limit, sets it's value to -0.1 and throws an error. I can override the limit and back off of it. It appears to me that EMC2 is not ignoring the switch as it should. Can someone post an .ini file from a combination home and limit switch that does work? Is there something in Hal that needs to be connected that PnCConf might not have?
Yes, that's one of the resources I used. I started out as the first diagram and now I'm it's reverse. If I put those exact figures in my .ini file, however, it still doesn't work.
Oh. That's disappointing.
You don't have something odd like shared limit switches and simultaneous homing?
had a similar problem on my Z axis, you may try
Home = 18.0
Min_limit = 0.0
Max_limit = 18.0 or = 18.1
Home_offset = 17.9 or = 18.0
and I'm not too sure, but you might have to invert the HAL Y Dir (direction) pin as well.