> Date: Mon, 27 May 2013 14:34:18 -0500
> From: el...@pico-systems.com
> To: emc-developers@lists.sourceforge.net
> Subject: Re: [Emc-developers] axis.N.home-state
>
> Chris Morley wrote:
> >
> > -when one joint hits switch and index, it zeros the count, but keeps moving
> > both joints
> >
> The way it works now, in trivkins, and assuming HOME_OFFSET =0, is that
> the axis stops immediately when it hits the index pulse. Assuming both
> sides
> are close to their home position, this would be fine, while the second side
> finishes finding the index, it would only be improving the alignment.
>
Your assuming that the first index pulse found will always be the side that
needs to stop.
Which is a pretty safe bet but not an absolute truth.
> I'm not sure how you could keep both sides moving in synch when the first
> side finds the index pulse. (Yes, I suppose with an entirely custom module
> between PID and the joints that watches the ENCODER_INDEX signal
> to know when each one finds the index, you could maybe do it, but it
> seems it could be quite messy.)
>
> Jon
>
Sorry I was talking of a possible way to incorporate dual joint homing as in a
patch
to master. I think your referring to how to do it with existing 2.5 limitations.
Chris M
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