It seems to me that gantry homing needs to not be a set sequence but
rather a configurable sequence that the integrator can set up to suit
the machine. From reading all the chatter on this it appears not all
gantries are the same or require the same homing sequence.
It seems that there are various options that can happen once the first
home switch is tripped and that is the part that I see that needs
configuration options.
Search Move
Stop tripped motor and continue other motor until tripped
Continue both motors until both switches are tripped.
etc.
One more rambling thought could you move both motors together through
the whole search, back off, slow seek move and record the offset counts
between the two and at the end of the homing move square the gantry by
moving each motor 1/2 the distance toward the other and zero the
encoders at that point then move to home position?
Just some rambling thoughts early in the morning.
JT
On 5/25/2013 5:46 PM, andy pugh wrote:
> On 25 May 2013 23:24, Jon Elson <el...@pico-systems.com> wrote:
>
>> This may also be a moot problem, as we may make some progress
>> on this at the fest.
> Indeed.
>
> I rather think that nearly all the parts are there. One missing part
> is paired gantries waiting for each other to finish a stage.
> (My first guess is that if the offsets are different then the first
> one to see an index just needs to stop. It _may_ be that actually it
> needs to continue moving at the same speed.)
>
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