andy pugh wrote: > 4) One motor (could be either) sees the index, and the axis position > is set to HOME_OFFSET. It then rapids to HOME_POSITION > > > During 4) the rapid is a serious concern. > > Right, this is the big problem. So, HOME_OFFSET must be zero for both sides, and you can't use HOME_IGNORE_LIMITS. You want both index pulses to appear when the gantry is square. When the first side gives the index, it just stops there. The lagging side continues for a moment and then it, too gives the index pulse and stops. The gantry is now squared, and both sides should track the single commanded axis position.
Now, assuming we are NOT using gantrykins but just trivkins, what hackery do we need to come up with for a servo system? We can just call one side the master, and have a home switch only on that side. The home switch should serve fine for both sides. Do we need to mock-up the homing functions for the "slave" side of the axis? Can we keep that axis relatively synched to the master side during the home approach? This may also be a moot problem, as we may make some progress on this at the fest. Jon ------------------------------------------------------------------------------ Try New Relic Now & We'll Send You this Cool Shirt New Relic is the only SaaS-based application performance monitoring service that delivers powerful full stack analytics. Optimize and monitor your browser, app, & servers with just a few lines of code. Try New Relic and get this awesome Nerd Life shirt! http://p.sf.net/sfu/newrelic_d2d_may _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
