I've gotten most of my issues resolve with this project, but I still
have a problem homing the rotary axis. Since the normal 'writer' to the
rotary axis position, stepgen.3.position-cmd, is my own routine
instead of axis.3.motor-pos-cmd, the routines in AXIS/emc don't work.
It requires reassigning hal connections temporarily while homing, then
reconnecting them the way I need them while cutting.
Here's what I have in AXIS, where the normal homing stuff happens:
if vars.current_axis.get() == "a": # if it's my rotary axis
os.system('./beforehome') # shell out and do some
hal commands to 'rewire'
c.home("xyzabc".index(vars.current_axis.get())) ## normal home
if vars.current_axis.get() == "a": # shell out to undo the
rewiring.
os.system('./afterhome')
It almost works, if I skip the 'afterhome' stuff it does work. I just
need to figure out a way to have the system pause until home is found,
and *then* call 'afterhome' . Axis initiates the 'c.home' and returns
to do the next line immediately. What I need is something like:
if vars.current_axis.get() == "a": # if it's my rotary axis
os.system('./beforehome') # shell out and do some
hal commands to 'rewire'
c.home("xyzabc".index(vars.current_axis.get())) ## normal home
while (my_rotary_axis_is_still_finding_home)
loop
if vars.current_axis.get() == "a": # shell out to undo the
rewiring.
os.system('./afterhome')
But how can I check the status of the homing process at the axis/python
level? I've been all over the code and can't quite grasp well enough.
thanks
Steve
Steve Andrusz wrote:
> Jeff, I've done this and it works great, but it appears to create
> another problem. Homing the rotational axis. The normal method
> doesn't appear to work since it depends on the cmd/fb signals being
> connected to axis. Is there anyway to connect the pins temporarily,
> when homeing, and disconnect them so the 'home' button in axis works as
> expected? ( I get a 'joint 3 following error' after a 5 sec. delay, and
> no step pulses on the rotary axis.)
>
> thanks for all your help, I'm getting really close here.
>
> Steve
>
>
> Jeff Epler wrote:
>
>> You could configure your system as a 3-axis system, and hook nothing up
>> to axis.3. in your HAL configuration. If you do this, you won't be able
>> to see the position of the blade "axis" in the normal GUIs, but its
>> position also won't be subject to the following error calculation.
>>
>> Jeff
>>
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>
>
>
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