Help with homing on dual axis PlasmaC

Please see the vid for the problem with the homing one side stutters and and the other side is fine and homes without stutter.

The motors are closed loop servos. The machine is grounded correctly.

After it homes it jogs perfectly at 15M/min


There is no binding on the screw

could it be this setp pid.y2.maxerror .0005

is the debounce correctly setup ?

You haven't connected the debounce outputs, instead of:
you need something like:you could probably also setp the debounce delay a lot lower

phillc54 wrote:

You haven't connected the debounce outputs, instead of:

net home-y     =>  joint.0.home-sw-in
and
net home-y2     =>  joint.0.home-sw-in

you need something like:

net home-y-out   debounce.0.0.out  =>  joint.1.home-sw-in
and
net home-y2-out  debounce.0.1.out  =>  joint.2.home-sw-in

you could probably also setp the debounce delay a lot lower

Thanks Phill

Are the timings for debounce in nano or usecs

Clive wrote:

Are the timings for debounce in nano or usecs

I believe they are servo periods, so usually 1 mS per period.

tommylight wrote:

Clive wrote:

could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

@Tom
Do they cause issues? I see that I have the same in my config.

phillc54 wrote:

tommylight wrote:

Clive wrote:

could it be this setp pid.y2.maxerror .0005

Those lines should be deleted or omitted, in most cases.

@Tom
Do they cause issues? I see that I have the same in my config.

I have seen PCW say delete them many time for stepper configs not sure about close loop servos

Clive wrote:

phillc54 wrote:

You haven't connected the debounce outputs, instead of:

net home-y     =>  joint.0.home-sw-in
and
net home-y2     =>  joint.0.home-sw-in

you need something like:

net home-y-out   debounce.0.0.out  =>  joint.1.home-sw-in
and
net home-y2-out  debounce.0.1.out  =>  joint.2.home-sw-in

you could probably also setp the debounce delay a lot lower

Thanks Phill

Are the timings for debounce in nano or usecs

Is this correct then:-

# --- HOME-Y ---
net home-y <= hm2_7i96.0.gpio.003.in_not
net home-y debounce.0.0.in

net home-y-out debounce.0.0.out
net home-y-out => joint.1.home-sw-in

Clive wrote:

Is this correct then:-

# --- HOME-Y ---
net home-y <= hm2_7i96.0.gpio.003.in_not
net home-y debounce.0.0.in

net home-y-out debounce.0.0.out
net home-y-out => joint.1.home-sw-in

Yep, that looks OK.