Homing speed for 2nd joint on single axis problem LinuxCNC 2.8

Hey guys,

I can't get the second joint on my Y axis to home any faster than 1 machine-units per second.

I'll post the entire INI in the next post but basically I have:
HOME_SEQUENCE = -1
HOME_SEARCH_VEL = -1
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 1
HOME_USE_INDEX = NO
HOME_OFFSET = -10

for both joints on my Y axis. If I set any on the "VEL" settings to anything faster than 1, only Joint 1 (the first joint on the axis) moves at that speed and the second joint will still only move at 1.

I've tried setting HOME_SEQUENCE = -1 to -1 and -1 on both joints while leaving joints 0 and 3 at 0. Same but Y axis joints to 1 (non-negative), Same but one negative and the other not, all joints to 1 and all joints to -1.

[EMC]
MACHINE = my-mill
DEBUG = 0
VERSION = 1.0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 10.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 100.00
DEFAULT_ANGULAR_VELOCITY = 10.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 100.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/joel0407/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ

[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
BASE_PERIOD = 62500
SERVO_PERIOD = 1000000

[HAL]
HALFILE = my-mill.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ]
COORDINATES = X Y Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10.00
MAX_LINEAR_VELOCITY = 200.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_X]
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 700.0
MIN_LIMIT = -0.001
MAX_LIMIT = 480.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 480.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 700.0
STEPGEN_MAXACCEL = 875.0
SCALE = 160.0
FERROR = 1
MIN_FERROR = .25

HOME_SEQUENCE = -1
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO


[AXIS_Y]
MAX_VELOCITY = 95.0
MAX_ACCELERATION = 700.0
MIN_LIMIT = -0.001
MAX_LIMIT = 695.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 695.0
MAX_VELOCITY = 95.0
MAX_ACCELERATION = 700.0
STEPGEN_MAXACCEL = 875.0
SCALE = 160.0
FERROR = 1
MIN_FERROR = .25

HOME_SEQUENCE = -1
HOME_SEARCH_VEL = -1
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 5
HOME_USE_INDEX = NO
HOME_OFFSET = -1

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 695
MAX_ACCELERATION = 700.0
STEPGEN_MAXACCEL = 875.0
SCALE = 160.0
FERROR = 1
MIN_FERROR = .25

HOME_SEQUENCE = -1
HOME_SEARCH_VEL = -10
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = 10
HOME_USE_INDEX = NO
HOME_OFFSET = -10

[AXIS_Z]
MAX_VELOCITY = 95.0
MAX_ACCELERATION = 700.0
MIN_LIMIT = -110.0
MAX_LIMIT = 0.001

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -110.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 95.0
MAX_ACCELERATION = 700.0
STEPGEN_MAXACCEL = 875.0
SCALE = 160.0
FERROR = 1
MIN_FERROR = .25

HOME_SEQUENCE = -1
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO

From what I'm seeing is that your joint axis Y is on joints 1 and 2. You have different homing velocities on each side of the gantry... they should be identical ....

I can't get Joint 2 to go faster than 1.

When I posted this INI. I was trying to increase joint 2 to see it move faster but it wont.

Even with them being identical. Joint 1 will move at whatever speed I set them both to but joint 2 will only move at 1.

You also have your z axis set with a homing sequence of -1 so that makes it part of the joint axis....

Yep, Tried 0 for X, -1 -1 for Y and 2 for Z
Tried -1 for X, -1 -1 for Y and -1 for Z
Tried 0 for X, 1 -1 for Y and 0 for Z
Tried 0 for X, -1 1 for Y and 0 for Z
Tried 0 for X, 1 1 for Y and 0 for Z

Just don't seem to be able to get the second joint to move faster. All works fine with manual homing. I'm cutting a part right now.

There is nothing wrong with the 2.8 homing sequence. I've been using it since day dot on my machine. There is something wong in your config or wiring.

rodw wrote:

There is nothing wrong with the 2.8 homing sequence. I've been using it since day dot on my machine. There is something wong in your config or wiring.

Yep. I imagine you wouldn't be the only one.

Everything else is working fine and it homes fine (just at VEL 1) so I figure my wiring is fine.

Has to be my config but I can't find what.

I am not an expert but from what I see I think you have missed out the MAX_VELOCITY from join 2 I think it should be the same as Joint 1