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Firstly, I have a PM728vt, using a MESA 7i96S.

Ok, so through some trial and error I have come up with the following for homing, and it is working correctly (i.e. zero out home etc..), however, I have two questions. The one relating to the bottom set of config elements:

These are the current config and are working and displaying on the correct orientation on Main on Probe-Basic. (i.e. tool path direction).

[JOINT_0]
MIN_LIMIT = -480
MAX_LIMIT = 0
MAX_VELOCITY = 10
MAX_ACCELERATION = 4
TYPE = LINEAR
SCALE = 320
HOME = 0
HOME_OFFSET = 1
HOME_SEARCH_VEL = 4
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 1
HOME_SEQUENCE = 0

[JOINT_1]
MIN_LIMIT = -180
MAX_LIMIT = 0
MAX_VELOCITY = 10
MAX_ACCELERATION = 4
TYPE = LINEAR
SCALE = -320
HOME = 0
HOME_OFFSET = 1
HOME_SEARCH_VEL = 4
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 1
HOME_SEQUENCE = 1

[JOINT_2]
MIN_LIMIT = -172
MAX_LIMIT = 0
MAX_VELOCITY = 10
MAX_ACCELERATION = 4
TYPE = LINEAR
SCALE = 320
HOME = 0
HOME_OFFSET = 1
HOME_SEARCH_VEL = 4
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 1
HOME_SEQUENCE = 2

At present it homes and just offsets by 1mm to create 0 home. So machine is sitting in the Right (x), Front (y), Up (z) sections of the machine. What I would like to do is home to the centre of the machine and wanted to know if there was a convention for the limits setup. In other words, should it go from say an example of -150 through 0 to +150, or is convention, 0 to 300.

I feel that I would like to "centre" the machine after homing and wanted to check if the following changes would provide for this. And is this best practice?

[JOINT_0]
MIN_LIMIT = -240
MAX_LIMIT = 240
HOME_OFFSET = 240

[JOINT_1]
MIN_LIMIT = -90
MAX_LIMIT = 90
HOME_OFFSET = 90

[JOINT_2]
MIN_LIMIT = -86
MAX_LIMIT = 86
HOME_OFFSET = 86

The second question is that I have limit switch for the other end of travel, and wanted to know how I can configure the home switch to be both Home and limit without causing errors. I have not been able to get it working as a combination switch, but would like it to function that way.

Once this is done, will be configuring up the Probe and a tool touch off.

Any help welcome. Thanks.

Hi,
    I create some pins in the RT module, now I want to read and write pins' value in user space.I use the following code,but it failed.Is there any way to access RT module pins in the user space? The environment is Ubuntu20.04+xenomai3.1+linuxcnc2.9.Thanks!

---

    int compId;
    int ret;
    hal_float_t *pin_value;
    // init HAL
    compId = hal_init("user_program");
    if (compId < 0) {
        rtapi_print("HAL init failed\n");
        return -1;
    }
    pin_value = (hal_float_t*)hal_malloc(sizeof(hal_float_t));
    ret = hal_pin_float_new("kernel_pin", HAL_IN, &pin_value, compId);
    if (ret < 0) {
        rtapi_print("getting or creating pin failed!\n");
        hal_exit(compId);
        return -1;
    }

    ret = hal_link("user_program.kernel_pin", "ALT.I2600");
    if (ret < 0) {
        fprintf(stderr, "cann't bind signal!\n");
        hal_exit(compId);
        return -1;
    }
    hal_ready(compId);
    
    //*pin_value = 123.45;
    //rtapi_print("value is: %f\n", *pin_value);
    hal_exit(compId);

---

It prints some messages:
HAL: initializing hal_lib
HAL: initializing component 'user_program'
HAL: component 'user_program' initialized, ID = 28
smalloc_up: shmem available 1386552
HAL: ERROR: pin_new(kernel_pin) called with already-initialized memory
HAL: creating pin 'kernel_pin'
HAL: ERROR: data_ptr_addr not in shared memory

This card is not putting out any voltage to correct the position commanded vs position actual.. i think i might have a bad one