2013/10/25 Charles Steinkuehler <[email protected]> > > How do you handle homing? >
Easy :) I have home switches for each gantry joint. Main thing is to set Home_sequence to be the same for both of these joints and set equal home search and latch velocities. Care to share your configuration files? > In my INI file it looks like this (joints 1 and 3 are gantry joints): [AXIS_0] TYPE = LINEAR MAX_VELOCITY = 160.0 MAX_ACCELERATION = 160.0 BACKLASH = 0.000 FERROR = 2000.20 MIN_FERROR = 2000.05 INPUT_SCALE = 754.5123 OUTPUT_SCALE = 1 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 0.95 MIN_LIMIT = -1.0 MAX_LIMIT = 6100.0 HOME = 0.000 HOME_OFFSET = -5.00 HOME_SEARCH_VEL = -2.50 HOME_LATCH_VEL = 0.50 HOME_FINAL_VEL = 2.50 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.001 P = 0.1 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 160.0 MAX_ACCELERATION = 160.0 BACKLASH = 0.000 FERROR = 202.20 MIN_FERROR = 202.05 INPUT_SCALE = -754.5123 OUTPUT_SCALE = -1 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 0.95 MIN_LIMIT = -1.0 MAX_LIMIT = 2200.0 HOME = 0.000 HOME_OFFSET = -5.00 HOME_SEARCH_VEL = -2.50 HOME_LATCH_VEL = 0.50 HOME_FINAL_VEL = 2.50 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.001 P = 0.1 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 [AXIS_2] TYPE = LINEAR MAX_VELOCITY = 160.0 MAX_ACCELERATION = 160.0 BACKLASH = 0.000 FERROR = 210.20 MIN_FERROR = 210.05 INPUT_SCALE = -2000 OUTPUT_SCALE = 1 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 0.95 MIN_LIMIT = -3.0 MAX_LIMIT = 101.0 HOME = 100.0 HOME_OFFSET = 105.0 HOME_SEARCH_VEL = 1.50 HOME_LATCH_VEL = -0.20 HOME_FINAL_VEL = 2.50 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # PID tuning params DEADBAND = 0.001 P = 0.1 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 [AXIS_3] TYPE = LINEAR MAX_VELOCITY = 160.0 MAX_ACCELERATION = 160.0 BACKLASH = 0.000 FERROR = 202.20 MIN_FERROR = 202.05 INPUT_SCALE = -754.5123 OUTPUT_SCALE = -1 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 0.75 MIN_LIMIT = -0.5 MAX_LIMIT = 2200.0 HOME = 0.000 HOME_OFFSET = -5.00 HOME_SEARCH_VEL = -2.50 HOME_LATCH_VEL = 0.50 HOME_FINAL_VEL = 2.50 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.001 P = 0.1 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 -- Viesturs ------------------------------------------------------------------------------ October Webinars: Code for Performance Free Intel webinars can help you accelerate application performance. Explore tips for MPI, OpenMP, advanced profiling, and more. Get the most from the latest Intel processors and coprocessors. See abstracts and register > http://pubads.g.doubleclick.net/gampad/clk?id=60135991&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
