I'm working on a new Qt UI and it's not connected to hardware yet so I'm trying to get null or "Immediate Homing" working. Looking at the docs it looks like "HOME equals to HOME_OFFSET" is something new, I don't remember using that last time I did this. My ini setup:
Code:
#********************
# Axis X
#********************
[AXIS_X]
MAX_VELOCITY = 6
MAX_ACCELERATION = 15
[JOINT_0]
TYPE = LINEAR
HOME = 10.325
FERROR = 0.5
MIN_FERROR = 0.1
MAX_VELOCITY = 6
MAX_ACCELERATION = 15
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 8
STEPGEN_MAXACCEL = 20
P = 100
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP = 7500
DIRHOLD = 2000
STEPLEN = 7500
STEPSPACE = 1000
STEP_SCALE = -3446.67
#HOME_OFFSET = -0.2500000
#HOME_SEARCH_VEL = -0.7
#HOME_LATCH_VEL = -0.2
#HOME_FINAL_VEL = 1
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = 0
#Null Homing
HOME_OFFSET = -0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME equals to HOME_OFFSET
HOME_SEQUENCE = 0
I'm getting following errors on these joints
Code:
joint 0 following error
emc/task/taskintf.cc 976: Error on joint 0, command number 122
emc/task/taskintf.cc 976: Error on joint 1, command number 122
joint 1 following error
The PID output and feedback are disconnected in HAL because they obviously go to hardware. Might be able to get away with connecting command to feedback but I would think that would defeat the purpose of immediate homing
