Brian J. Carpenter wrote: > Hello, > > I have a small machine which I have had setup and running with other > software for a year now. I recently tried EMC and am having some > issues. From what I have read, support for Homing is somewhat recent. I > am running the latest version, or atleast there are no updates showing. > (I installed from the LiveCD) > > When I try to home the machine, it runs at full speed and bashes into > the hard stop, ignoring the home switch. The switch does work, and I > have tried inverting the signal in stepconf, but no luck. > > The machine homes fine when using another software package, but I really > prefer the flexible concept of EMC. > > My axis is setup as follows: > > [AXIS_0] > TYPE = LINEAR > HOME = 0.0 > MAX_VELOCITY = 0.3 > MAX_ACCELERATION = 0.5 > STEPGEN_MAXACCEL = 0.525 > SCALE = 10000.0 > FERROR = 0.05 > MIN_FERROR = 0.01 > MIN_LIMIT = -4.375 > MAX_LIMIT = 4.375 > HOME_OFFSET = -4.375000 > SEARCH_VEL = 0.020000 > LATCH_VEL = 0.100000 > HOME_SEQUENCE = 1 > I don't know where you got this .ini file from, it may be a VERY old version. The names of some of the parameters may have changed, causing your specified parameters "SEARCH_VEL" and "LATCH_VEL" to be ignored. Here is a snip from a more recent .ini file : HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO
I think you will get more reasonable results if you put "HOME_" in front of those names in your file and try again. Can anyone tell me > what EMC expects the switch state to be, true when at home, or > reversed? Or does it need Normally Open switches? It wants the HAL pin to be TRUE when the limit or home position is reached. That polarity can be set in the software by assigning either the true or inverted copy of the input bit. You'll have code something like this in your hal file: newsig Xhome bit linksp Xhome <= ppmc.0.din.00.in linksp Xhome => axis.0.home-sw-in In the middle line above, it is reading an input pin, in this case from one of my interface boards, named "ppmc.0.din.00.in" and passing it to axis.0.home-sw-in, which detects the home condition. If you changed the middle line to say "ppmc.0.din.00.in-not" instead, it would invert the sense of the switch. Your file will have a different name for the hal pin that senses the parallel port input pin, but you should be able to just add the -not to the end of that pin's name to invert it. Jon ------------------------------------------------------------------------- Check out the new SourceForge.net Marketplace. It's the best place to buy or sell services for just about anything Open Source. http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
