Home sensors configuration for Robotic Arm

Hi Everyone,

Now I am finishing my project with the robotic arm, but I have to implement the original "homing sensors" for the initial positioning of the robot.

I have 5 inputs, each one for the 5 DOF.

How can I integrate the sensors with LinuxCNC?

I searched and read some topics in the forum and integrator docs, but I actually don't understand how can I configure the "original homing sensors" with LinuxCNC.

I appreciate your helpful. Thanks a lot.

What are the original homing sensors?

Andy,

Thanks for your reply.

When I wrote "original homing sensors", they are the original robot sensors. Used for locate at homing position at the original design.

I read more, and I want to ask if only is it add these lines in each axis conf in the *.ini file?. And its connections in the *.hal file?

Thanks.

What you need to do depends on what the sensors are and how they work.

Robots often seem to use index and analogue homing. Others might have a sensor and a long flag, so that they can home to mid-travel.

You need to work out what you have.

Hi Andy,

The sensor are "reed switch", 3 are NO and the other 2 are NC. They were used to locate the initial position of the robot (Homing).



How can I integrate them with the homing option in LinuxCNC?

Regards.

jstoquica wrote: How can I integrate them with the homing option in LinuxCNC?.

Where in the range of motion of each joint do they activate? If they are at one end, then you would configure just like for any other machine.

linuxcnc.org/docs/2.7/html/config/ini-homing.html

If they switch at half-way, with one side being "on" and one side being "off" then the normal config will still work.

If they switch in the middle, then it is difficult, because the system has no way to know which side of the switch the joint is currently on.