Thanks Jeff, I've been trying to solve it but with no success till now; I tried using stteper-gantry configuration and modify it to use with my servo system, but no advance.
First I need is to link two servos to one axis, I tried using the component "gantrykis" but did not work. I'll take the homing problem when I'd can be able to move the two joints linked to one axis, so at the moment I'm not thinking in homing process until I solve the other problem Any idea? ArnoldRiter Jeff Ottesen wrote: > Arnold, > > I have not solved it but I think I know the direction to go. After digging > though the mailing list archive I found one thread that addressed homing of a > dual servo gantry. It looks like it will take some work in HAL - I have > included an excerpt of the thread below that sums it up fairly well. Other > than this, the info I have found has been for steppers or solutions that > handled gantry squaring outside of EMC2 by mechanical means or though the > servo drives themselves. I would be surpised if someone has not figured this > out given the number of large format machines running EMC2. I am 6 to 9 > months away from having a gantry to test with but I would be happy to work > with you on this if someone doesn't chime in with a solution. This is > something that should become a native element of homing in EMC2 as it is > fundamental to the operation of a dual drive gantry. > > > > Jeff > > > > Re: [Emc-users] syncing two motors to one axis > From: Jon Elson <el...@pi...> - 2009-04-01 17:28 > > Len Shelton wrote: > >> So let's say you have two drives, two motors, and two home switches on the >> same axis (gantry type machine). The problem with this arrangement is >> synchronization. The control needs to be aware of the two motors and needs >> to home both at the same time. While homing, we need to bring both motors >> towards the home switches together then independently home each motor when >> it reaches the home switch. >> >> How can this be done in EMC2? >> >> > We've gone over this a dozen times, at least. It would take about 10-15 > lines of HAL and several HAL components to perform the logic. > Basically, you make the two motors run at the same rate. As each motor > hits the home switch, it stops. When both have touched home, they move > together again to complete the precision home sequence to the encoder > index pulse. EMC2 already has features in HAL to handle tandem axes > like this, once homing is done. You feed the lettered axis (as in "X") > position to two numbered "joints" as in zero and one. So, the only > detail up in the air is how to do the homing. > > Jon > > > >> Message: 9 >> Date: Sun, 10 Jan 2010 11:32:40 +0100 >> From: Arnoldritercnc <arnoldriter...@gmail.com> >> Subject: Re: [Emc-users] Homing dual drive gantry >> To: "Enhanced Machine Controller (EMC)" >> <emc-users@lists.sourceforge.net> >> Message-ID: <4b49acc8.7050...@gmail.com> >> Content-Type: text/plain; charset=ISO-8859-1; format=flowed >> >> I have the same problem. Jeff, have you solved it? >> Any help will be very appreciated >> >> Thanks >> > > _________________________________________________________________ > Your E-mail and More On-the-Go. Get Windows Live Hotmail Free. > http://clk.atdmt.com/GBL/go/196390709/direct/01/ > ------------------------------------------------------------------------------ > This SF.Net email is sponsored by the Verizon Developer Community > Take advantage of Verizon's best-in-class app development support > A streamlined, 14 day to market process makes app distribution fast and easy > Join now and get one step closer to millions of Verizon customers > http://p.sf.net/sfu/verizon-dev2dev > _______________________________________________ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > > ------------------------------------------------------------------------------ This SF.Net email is sponsored by the Verizon Developer Community Take advantage of Verizon's best-in-class app development support A streamlined, 14 day to market process makes app distribution fast and easy Join now and get one step closer to millions of Verizon customers http://p.sf.net/sfu/verizon-dev2dev _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
