Help Needed: Cracking the Code on LinuxCNC Servo Homing Setup!

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2 years 4 months ago #303096 by Aciera
Here is an example of a Z-axis on a mill using a limit/home switch at the positive end of travel and an index signal from a linear glass scale:
Code:
HOME_SEARCH_VEL = 20      # find limit/home switch HOME_LATCH_VEL = -10       # find  index signal from glass scale in opposite direction HOME_OFFSET = -46.0          # set position at index signal (ie the actual zero position is located 46mm below the index location) HOME_FINAL_VEL = 15         # move to zero position HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES

 
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2 years 4 months ago #303100 by Aciera

It is possible, the offset is not implemented. I'm using Marco Reps modifications with a custom comp file, which is based on standard homing.c

Looking at 'el8_homecomp.c' confirms that 'HOME_OFFSET' is indeed not implemented:

 

Looking at the default 'motion/homing.c' it may not be all that much work to get it to work:

 
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2 years 4 months ago #303101 by rodw
Yes, onceinternal homing is used, most additional features are obseleted. 
Home offset is probably supported by your servo's homing methods.
Marcoreps uses a CIA402 compatible drive and the standard offers many homing types.
This one looks like  a home offset to me.
 

Check your documentation for your drive.
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2 years 4 months ago - 2 years 4 months ago #303108 by eduard

Looking at the default 'motion/homing.c' it may not be all that much work to get it to work:


It would be nice to use most of the lcnc features where is not absolutely necessary to use the servo internal features. But implementing the home offset is out of my knowledge. And the soft limit as well.
Last edit: 2 years 4 months ago by eduard.

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2 years 4 months ago - 2 years 4 months ago #303109 by eduard

Yes, onceinternal homing is used, most additional features are obseleted. 
Home offset is probably supported by your servo's homing methods.
Marcoreps uses a CIA402 compatible drive and the standard offers many homing types.
This one looks like  a home offset to me.


This is the exact method what I'm using now to home the drives. Starting with high velocity to search the limit switch, when found turn the direction with low speed and looking for encoder Z signal. Then stops. And send homed to lcnc.

If I'm using the internal offsets, I'll miss the opportunity to use lcnc softlimits, which is important. (If I'm right. Not sure.)
Last edit: 2 years 4 months ago by eduard.

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2 years 4 months ago #303110 by paul_chx
Can anybody confirm that their drives are really switching to homing mode (opmode-display==6) when using the el8_homecomp.comp? Mine don't. And therefore the set homing velocity and acceleratin limits aren't respected - actually the drives internal homing routine isn't ever used at all.

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