Hi,
so I'm in the testing phase and i have a little bit of a problem. There are 3 steppers connected but that is not the issue. Because I'm in the testing phase there are no limit switches connected. Physically this should be the situation in which you power the mill on and all three axis have passed the home switches and staying on the limit switches. So i would like to move the axis by hand but as soon as you set the machine in run mode AND you try to move one axis:
"joint 0 on limit switch error"
"joint 1 on limit switch error"
"joint 2 on limit switch error"
i put in some code, so i don't really what to do next.
Code:
[KINS]
JOINTS = 3
KINEMATICS = trivkins kinstype=both coordinates=xyz
[AXIS_X]
MIN_LIMIT = -1
MAX_LIMIT = 1200
MAX_VELOCITY = 100
MAX_ACCELERATION = 5000.0
[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 100
MAX_ACCELERATION = 5000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 100
STEPGEN_MAXACCEL = 5000
SCALE = 1
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = -1
MAX_LIMIT = 1200
HOME = 0
HOME_OFFSET = 20
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = 15.625
HOME_LATCH_VEL = 15.625
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
[AXIS_Y]
MIN_LIMIT = -1
MAX_LIMIT = 1200
MAX_VELOCITY = 250
MAX_ACCELERATION = 5000.0
[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 100
MAX_ACCELERATION = 5000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 100
STEPGEN_MAXACCEL = 5000
STEP_SCALE = 1
FERROR = 2
MIN_FERROR = 20
MIN_LIMIT = -1
MAX_LIMIT = 1200
HOME = 0
HOME_OFFSET = 0
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 50
MAX_ACCELERATION = 1000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 150
STEPGEN_MAXACCEL = 2250
STEP_SCALE = 1
FERROR = 200
MIN_FERROR = 20
MIN_LIMIT = -200
MAX_LIMIT = 0.001
HOME = 0
HOME_OFFSET = 0
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
[AXIS_Z]
MIN_LIMIT = -200
MAX_LIMIT = 0.001
MAX_VELOCITY = 50
MAX_ACCELERATION = 1000
Code:
loadrt not count=6
addf not.0 servo-thread
addf not.1 servo-thread
addf not.2 servo-thread
addf not.3 servo-thread
addf not.4 servo-thread
addf not.5 servo-thread
net Machine.limit.0.ok lcec.0.3.in-3 not.0.in
net Machine.limit.0.tripped not.0.out
net Machine.limit.1.ok lcec.0.4.in-3 not.1.in
net Machine.limit.1.tripped not.1.out
net Machine.limit.2.ok lcec.0.5.in-3 not.2.in
net Machine.limit.2.tripped not.2.out
net Machine.home0 lcec.0.3.in-4 => joint.0.home-sw-in
net Machine.limit.0.tripped => joint.0.neg-lim-sw-in
net Machine.home1 lcec.0.4.in-4 => joint.1.home-sw-in
net Machine.limit.1.tripped => joint.1.pos-lim-sw-in
net Machine.home2 lcec.0.5.in-4 => joint.2.home-sw-in
net Machine.limit.2.tripped => joint.2.pos-lim-sw-in
