Hi, I've got my basic setup working and have made some cuts. Time to add the limit switches. For now, I've added one switch on Z+. This should act as a limit and homing switch. It's sort-of working but…
When I'm homing the Z axes (joint 2), the machine correctly moves towards the switch, the machine stops and I get: joint 2 on limit switch error emc/task/taskintf.cc 976: Error on joint 2, command number 95 So this doesn't seem correct. It appears that it acts mainly as a limit switch and doesn't quite double-up as homing switch. Likely due to misconfiguration on my side. I also observed that it shuts off all movement, not only movement towards Z+ if the switch triggers. Not sure if that's by design or another sign of misconfiguration. I've read https://linuxcnc.org/docs/html/config/ini-homing.html but frankly, that's a lot to digest. Find my configuration attached. What do I need to change so I can use this single switch for homing as well as a limit switch? Marco
loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_spix config=" num_encoders=0 num_pwmgens=1 num_stepgens=5 sserial_port_0=0xxxxx" setp hm2_7c80.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s loadrt limit1 count=2 loadrt ilowpass count=2 loadrt mult2 count=2 addf hm2_7c80.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.y2.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_7c80.0.write servo-thread net digital-out-0 motion.digital-out-00 => #net flood-output iocontrol.0.coolant-flood => loadrt not count=1 addf not.0 servo-thread #net ssr0out not.0.out hm2_7c80.0.ssr.00.out-02 #net motion-is-enabled => not.0.in # external output signals # --- MACHINE-IS-ENABLED --- net machine-is-enabled => hm2_7c80.0.ssr.00.out-00 # external input signals net min-home-x <= hm2_7c80.0.inmux.00.input-15 net max-home-y <= hm2_7c80.0.inmux.00.input-14 # net max-home-z <= hm2_7c80.0.inmux.00.input-13-not net max-home-z <= hm2_7c80.0.inmux.00.input-13 net probe-in <= hm2_7c80.0.inmux.00.input-23 net estop-ext <= hm2_7c80.0.inmux.00.input-22-not net max-home-z <= hm2_7c80.0.inmux.00.input-13 net max-home-z => joint.2.home-sw-in net max-home-z => joint.2.pos-lim-sw-in #******************* # AXIS X JOINT 0 #******************* setp pid.x.Pgain [JOINT_0]P setp pid.x.Igain [JOINT_0]I setp pid.x.Dgain [JOINT_0]D setp pid.x.bias [JOINT_0]BIAS setp pid.x.FF0 [JOINT_0]FF0 setp pid.x.FF1 [JOINT_0]FF1 setp pid.x.FF2 [JOINT_0]FF2 setp pid.x.deadband [JOINT_0]DEADBAND setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp pid.x.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.x.maxerror 0.012700 net x-index-enable => pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-pos-fb => pid.x.feedback net x-output <= pid.x.output # Step Gen signals/setup setp hm2_7c80.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7c80.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7c80.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7c80.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7c80.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_7c80.0.stepgen.00.step_type 0 setp hm2_7c80.0.stepgen.00.control-type 1 setp hm2_7c80.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_7c80.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-output <= hm2_7c80.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7c80.0.stepgen.00.position-fb net x-pos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => hm2_7c80.0.stepgen.00.enable # ---setup home / limit switch signals--- net min-home-x => joint.0.home-sw-in #******************* # AXIS Y JOINT 1 #******************* setp pid.y.Pgain [JOINT_1]P setp pid.y.Igain [JOINT_1]I setp pid.y.Dgain [JOINT_1]D setp pid.y.bias [JOINT_1]BIAS setp pid.y.FF0 [JOINT_1]FF0 setp pid.y.FF1 [JOINT_1]FF1 setp pid.y.FF2 [JOINT_1]FF2 setp pid.y.deadband [JOINT_1]DEADBAND setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT setp pid.y.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y.maxerror 0.012700 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-pos-fb => pid.y.feedback net y-output <= pid.y.output # Step Gen signals/setup setp hm2_7c80.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7c80.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7c80.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7c80.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7c80.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_7c80.0.stepgen.01.step_type 0 setp hm2_7c80.0.stepgen.01.control-type 1 setp hm2_7c80.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_7c80.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.1.motor-pos-cmd net y-vel-cmd <= joint.1.vel-cmd net y-output <= hm2_7c80.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_7c80.0.stepgen.01.position-fb net y-pos-fb => joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out net y-enable => hm2_7c80.0.stepgen.01.enable # ---setup home / limit switch signals--- net max-home-y => joint.1.home-sw-in #******************* # AXIS Z JOINT 2 #******************* setp pid.z.Pgain [JOINT_2]P setp pid.z.Igain [JOINT_2]I setp pid.z.Dgain [JOINT_2]D setp pid.z.bias [JOINT_2]BIAS setp pid.z.FF0 [JOINT_2]FF0 setp pid.z.FF1 [JOINT_2]FF1 setp pid.z.FF2 [JOINT_2]FF2 setp pid.z.deadband [JOINT_2]DEADBAND setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT setp pid.z.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.z.maxerror 0.012700 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-pos-fb => pid.z.feedback net z-output <= pid.z.output # Step Gen signals/setup setp hm2_7c80.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_7c80.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_7c80.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_7c80.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_7c80.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE setp hm2_7c80.0.stepgen.02.step_type 0 setp hm2_7c80.0.stepgen.02.control-type 1 setp hm2_7c80.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_7c80.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.2.motor-pos-cmd net z-vel-cmd <= joint.2.vel-cmd net z-output <= hm2_7c80.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_7c80.0.stepgen.02.position-fb net z-pos-fb => joint.2.motor-pos-fb net z-enable <= joint.2.amp-enable-out net z-enable => hm2_7c80.0.stepgen.02.enable # ---setup home / limit switch signals--- net max-home-z => joint.2.home-sw-in #******************* # SPINDLE #******************* setp pid.s.Pgain [SPINDLE_0]P setp pid.s.Igain [SPINDLE_0]I setp pid.s.Dgain [SPINDLE_0]D setp pid.s.bias [SPINDLE_0]BIAS setp pid.s.FF0 [SPINDLE_0]FF0 setp pid.s.FF1 [SPINDLE_0]FF1 setp pid.s.FF2 [SPINDLE_0]FF2 setp pid.s.deadband [SPINDLE_0]DEADBAND setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---PWM Generator signals/setup--- setp hm2_7c80.0.pwmgen.00.output-type 1 setp hm2_7c80.0.pwmgen.00.scale [SPINDLE_0]OUTPUT_SCALE setp hm2_7c80.0.pwmgen.00.out0.invert_output true # --- Setup 7C80 GPIO bits for FWD/REV spindle control setp hm2_7c80.0.gpio.020.invert_output true setp hm2_7c80.0.gpio.020.is_output true setp hm2_7c80.0.gpio.021.invert_output true setp hm2_7c80.0.gpio.021.is_output true net spindle-cw => hm2_7c80.0.gpio.020.out net spindle-ccw => hm2_7c80.0.gpio.021.out net spindle-output => hm2_7c80.0.pwmgen.00.value net spindle-enable => hm2_7c80.0.pwmgen.00.enable # ---Encoder feedback signals/setup--- # ---setup spindle control signals--- net spindle-vel-cmd-rps <= spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm <= spindle.0.speed-out #net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs #net spindle-enable <= spindle.0.on net spindle-cw <= spindle.0.forward net spindle-ccw <= spindle.0.reverse net spindle-brake <= spindle.0.brake net spindle-revs => spindle.0.revs net spindle-at-speed => spindle.0.at-speed net spindle-vel-fb-rps => spindle.0.speed-in net spindle-index-enable <=> spindle.0.index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- #net axis-select-x halui.axis.x.select net jog-x-pos halui.axis.x.plus net jog-x-neg halui.axis.x.minus net jog-x-analog halui.axis.x.analog #net x-is-homed halui.joint.0.is-homed #net axis-select-y halui.axis.y.select net jog-y-pos halui.axis.y.plus net jog-y-neg halui.axis.y.minus net jog-y-analog halui.axis.y.analog #net y-is-homed halui.joint.1.is-homed #net axis-select-z halui.axis.z.select net jog-z-pos halui.axis.z.plus net jog-z-neg halui.axis.z.minus net jog-z-analog halui.axis.z.analog #net z-is-homed halui.joint.2.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus #net spindle-manual-cw halui.spindle.0.forward #net spindle-manual-ccw halui.spindle.0.reverse #net spindle-manual-stop halui.spindle.0.stop #net machine-is-on halui.machine.is-on net jog-speed halui.axis.jog-speed #net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist #net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-ext => iocontrol.0.emc-enable-in # ---manual tool change signals--- loadusr -W hal_manualtoolchange net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
[EMC] MACHINE = mycnc DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 2.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 0 PROGRAM_PREFIX = /home/foo/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm DEFAULT_LINEAR_VELOCITY = 8 MAX_LINEAR_VELOCITY = 60 MIN_LINEAR_VELOCITY = 0.500000 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = gedit GEOMETRY = xyz [FILTER] PROGRAM_EXTENSION = .ngc,.nc,.tap G-Code File PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [HMOT] # **** This is for info only **** CARD0=hm2_7c80.0 [HAL] HALUI = halui HALFILE = 7c80.hal HALFILE = xhc-whb04b-6.hal #HALFILE = custom.hal #POSTGUI_HALFILE = postgui_call_list.hal #SHUTDOWN = shutdown.hal [HALUI] MDI_COMMAND = (DEBUG,<1>) ; <<< NEW (good for testing macros) MDI_COMMAND = G10 L20 P0 X[#<_x>/2.0] ; <<< NEW (zero X at part center) MDI_COMMAND = G10 L20 P0 Y[#<_y>/2.0] ; <<< NEW (zero Y at part center) MDI_COMMAND = (DEBUG,<4>) ; <<< NEW MDI_COMMAND = (DEBUG,<5>) ; <<< NEW MDI_COMMAND = G10 L20 P0 X0 ; <<< NEW (Zero X) MDI_COMMAND = G10 L20 P0 Y0 ; <<< NEW (Zero Y) MDI_COMMAND = G10 L20 P0 Z0 ; <<< NEW (Zero Z) MDI_COMMAND = (DEBUG,<9>) ; <<< NEW MDI_COMMAND=(debug,macro10) MDI_COMMAND=(debug,macro11) MDI_COMMAND=(debug,macro12) MDI_COMMAND=(debug,macro13) MDI_COMMAND=(debug,macro14) MDI_COMMAND=(debug,macro15) MDI_COMMAND=(debug,macro16) [KINS] JOINTS = 3 KINEMATICS = trivkins coordinates=XYZ [TRAJ] COORDINATES = XYZ LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 1.67 MAX_LINEAR_VELOCITY = 70 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl TOOL_CHANGE_QUILL_UP = 1 #****************************************** [AXIS_X] MAX_VELOCITY = 70 MAX_ACCELERATION = 600 MIN_LIMIT = 0 MAX_LIMIT = 295 [JOINT_0] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 70 # MAX_ACCELERATION = 200 MAX_ACCELERATION = 600 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 88 STEPGEN_MAXACCEL = 1200 P = 1000 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 403 BACKLASH = 0.02 MIN_LIMIT = 0 MAX_LIMIT = 295 HOME_OFFSET = 0.0000 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_FINAL_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES #VOLATILE_HOME = TRUE HOME_SEQUENCE = 1 #****************************************** #****************************************** [AXIS_Y] MAX_VELOCITY = 70 MAX_ACCELERATION = 600 MIN_LIMIT = 0 MAX_LIMIT = 300 [JOINT_1] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 70 MAX_ACCELERATION = 600 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 88 STEPGEN_MAXACCEL = 1200 P = 1000 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 403 BACKLASH = 0.02 MIN_LIMIT = 0 MAX_LIMIT = 300 HOME_OFFSET = 0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_FINAL_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES #VOLATILE_HOME = TRUE HOME_SEQUENCE = 1 #****************************************** [AXIS_Z] MAX_VELOCITY = 40 MAX_ACCELERATION = 300 MIN_LIMIT = -107 MAX_LIMIT = 0.5 [JOINT_2] TYPE = LINEAR HOME = 0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 40 MAX_ACCELERATION = 300 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. # STEPGEN_MAXVEL = 33.33 STEPGEN_MAXVEL = 60 STEPGEN_MAXACCEL = 600 P = 1000 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 401 BACKLASH = 0.02 MIN_LIMIT = -107 MAX_LIMIT = 0.5 HOME_OFFSET = 0 HOME_SEARCH_VEL = 5 HOME_LATCH_VEL = 1 HOME_FINAL_VEL = 2 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES #VOLATILE_HOME = TRUE HOME_SEQUENCE = 0 #****************************************** #****************************************** [SPINDLE_0] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 2000 OUTPUT_SCALE = 5733.0 OUTPUT_MIN_LIMIT = 100 OUTPUT_MAX_LIMIT = 2000
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