I am using the positive limit switch for homing. When the home move starts, the table moves toward the positive limit switch as it should, however it doesn't stop when it reaches the switch. It tries to continue into the hard stop.
Here is part of the ini file setup: ############################################################################### # Axes sections ############################################################################### #+ First axis X [AXIS_0] TYPE = LINEAR HOME = 1.000 MAX_VELOCITY = 1.0 # NOTE: the step generator module applies its own limits to # acceleration and velocity. We have discovered that it needs # to have a little "headroom" over the accel by the trajectory # planner, otherwise it can fall slightly behind during accel # and later overshoot as it catches up. In the long term we # hope to come up with a clean fix for this problem. In the # meantime, please set STEPGEN_MAXACCEL below to a few percent # higher than the regular acceleration limit MAX_ACCELERATION # MAX_ACCELERATION = 20.0 MAX_ACCELERATION = 10.0 STEPGEN_MAXVEL = 1.5 # STEPGEN_MAXACCEL = 21.0 STEPGEN_MAXACCEL = 11.0 BACKLASH = 0.003 INPUT_SCALE = 2500 OUTPUT_SCALE = 1.000 MIN_LIMIT = -17.0 MAX_LIMIT = 3.0 FERROR = 0.050 MIN_FERROR = 0.010 HOME_OFFSET = 3.0 HOME_SEARCH_VEL = 0.5 HOME_LATCH_VEL = 0.01 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES Here is part of the pinout file setup: # standard pinout config file for 3-axis steppers # using a parport for I/O # # first load the parport driver loadrt hal_parport cfg="0x0378 0xdff0 0xdfa8" # # next connect the parport functions to threads # read inputs first addf parport.0.read base-thread 1 addf parport.1.read base-thread 1 addf parport.2.read base-thread 1 # write outputs last addf parport.0.write base-thread -1 addf parport.1.write base-thread -1 addf parport.2.write base-thread -1 # # finally connect physical pins to the signals # X Axis = parport.1 # Y Axis = parport.2 # Z axis = parport.0 linksp X_phaseA => parport.1.pin-07-out linksp X_phaseA => parport.1.pin-08-out setp parport.1.pin-08-out-invert TRUE linksp X_phaseB => parport.1.pin-05-out linksp X_phaseB => parport.1.pin-06-out setp parport.1.pin-06-out-invert TRUE linksp Y_phaseA => parport.2.pin-07-out linksp Y_phaseA => parport.2.pin-08-out setp parport.2.pin-08-out-invert TRUE linksp Y_phaseB => parport.2.pin-05-out linksp Y_phaseB => parport.2.pin-06-out setp parport.2.pin-06-out-invert TRUE linksp Z_phaseA => parport.0.pin-07-out linksp Z_phaseA => parport.0.pin-08-out setp parport.0.pin-08-out-invert TRUE linksp Z_phaseB => parport.0.pin-05-out linksp Z_phaseB => parport.0.pin-06-out setp parport.0.pin-06-out-invert TRUE ### ### A sample home switch on the X axis (axis 0). make a signal, ### link the incoming parport pin to the signal, then link the signal ### to EMC's axis 0 home switch input pin ### newsig Xhome bit linkps parport.1.pin-11-in => Xhome linksp Xhome => axis.0.home-sw-in ### ### Separate limit switches on the X axis (axis 0) ### newsig X-neg-limit bit linkps parport.1.pin-10-in => X-neg-limit linksp X-neg-limit => axis.0.neg-lim-sw-in newsig X-pos-limit bit linkps parport.1.pin-11-in => X-pos-limit linksp X-pos-limit => axis.0.pos-lim-sw-in newsig Y-neg-limit bit linkps parport.2.pin-11-in => Y-neg-limit linksp Y-neg-limit => axis.1.neg-lim-sw-in newsig Y-pos-limit bit linkps parport.2.pin-10-in => Y-pos-limit linksp Y-pos-limit => axis.1.pos-lim-sw-in newsig Z-neg-limit bit linkps parport.0.pin-11-in => Z-neg-limit linksp Z-neg-limit => axis.2.neg-lim-sw-in newsig Z-pos-limit bit linkps parport.0.pin-10-in => Z-pos-limit linksp Z-pos-limit => axis.2.pos-lim-sw-in The limit switches work fine for the limit function. Using the hal meter and actuating (opening) the O (X axis) positive limit switch, the hal meter shows the following responses: parport.1.pin-11-in changes from false to true Xhome changes from false to true axis.0.pos-lim-sw-in remains as false Since the signal Xhome is linked to the pin axis.0.pos-lim-sw-in, I would expect to see the pin to follow the signal, but it doesn't. Does anyone have any ideas as to what is going on here? Jack Ensor ------------------------------------------------------------------------- This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. Click to get it now. http://sourceforge.net/powerbar/db2/ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
