Hi Charles, I'm getting ready to bite the bullet and give up on gantrykins and switch over to this method for my dual gantry MPCNC/Cramps setup.
One thing that I'm a little fuzzy on is syncing the limit switches. I understand the trick/feature you developed; that both switches need to close for the homing cycle to finish and a is the mechanism for de-racking the gantry. So I'm assuming that the implication to this is that the switches on the gantry need to be aligned perfectly. Is this correct or is there some offset compensation built into code that will account for error in the switches(that I'm not seeing /understanding) The reason I'm asking is need make the mounts for the endstops. If I need to take out error using the stops only, I need to create some sort of fine alignment feature in end stop mount. Tom On Sunday, November 29, 2015 at 2:59:46 PM UTC-6, Bas de Bruijn wrote: > > Hi Neo, > > On 29 Nov 2015, at 21:31, Neo Phema <[email protected] <javascript:>> > wrote: > > It's very well done. Is the gantry component you wrote beaglebone > dependant? > > > the components that are used in HAL are meant to be the link between > software and hardware. Some components are specifically for setting up > hardware, most are not. So _you_ can decide the hardware that gets attached > to this component. The beaglebone and pins etc are just the hardware part. > In the terminal type "man gantry” which should give you the manpage. Or > have a look here > https://github.com/machinekit/machinekit-docs/blob/master/machinekit-documentation/components/gantry.asciidoc > > You might also have a look here: > > https://github.com/machinekit/machinekit-docs/blob/master/src/hal/intro.asciidoc > > Cheers, > Bas > > > On Friday, November 27, 2015 at 9:35:55 PM UTC-6, Charles Steinkuehler > wrote: >> >> Mostly because of all the stuff in the legacy LinuxCNC stack that >> breaks when you aren't using trivialkins, and the associated extra >> hassle required when using the application. Switching between >> world/joint modes, no coordinated MPG jogging with non-trivialkins, >> more complicated (IMHO) homing setup, etc. >> >> A gantry system is basically just a Cartesian machine with duplicated >> drive and a modified homing scheme for the paired joints. Both >> gantrykins and my gantry component are essentially hacks to make this >> work with LinuxCNC, but using gantrykins comes with a bunch of other >> UI fallout I didn't want to deal with. So I wrote the gantry comp. >> >> One example: >> Configure your gantry system to move to the center of the work >> envelope (let's say it's 100.0 for example) when finished homing, and >> the home switch is at 0.0. So that means for your gantry joints you'd >> set: >> >> HOME = 0.000 >> HOMEOFFSET = 100.000 >> >> Now home your gantrykins machine in joint mode and watch as one side >> of the gantry rapids from the home switch to the midpoint, while the >> other side is still searching for the home latch position. This is >> *NOT* a GoodThing! The gantry component I wrote handles this case >> correctly. :) >> >> On 11/27/2015 3:52 PM, Neo Phema wrote: >> > Charles, just an orientation question. >> > >> > My study shows trivikins to be less specialized that gantrykins for >> this >> > type of control. That I might learn, I am interested in what led you to >> > choose trivikins. >> > >> > On Friday, August 15, 2014 at 10:32:46 AM UTC-5, Charles Steinkuehler >> wrote: >> >> >> >> I finally crafted some example configurations for the gantry HAL >> >> component I wrote some time ago. These specific configs are for a >> Comet >> >> router from Probotix, but should work as a starting point for any >> gantry >> >> style system that has a homing switch available for each gantry joint >> >> (ie: Shapeoko or similar). >> >> >> >> Video on Youtube: >> >> https://www.youtube.com/watch?v=7XhIoDV8Hp8 >> >> >> >> Configs are in a github PR (already merged while I was typing!): >> >> https://github.com/machinekit/machinekit/pull/276 >> >> >> >> The relevant portions of the config in the HAL file: >> >> >> >> Splitting one commanded position into two with the gantry comp: >> >> >> >> >> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L54-L62 >> >> >> >> >> Home/limit switch setup: >> >> >> >> >> https://github.com/machinekit/machinekit/blob/master/configs/ARM/BeagleBone/Probotix/Comet.hal#L105-L111 >> >> >> >> >> Holler if there are any questions! >> >> >> >> -- >> >> Charles Steinkuehler >> >> >> >> >> >> >> > >> >> >> -- >> Charles Steinkuehler >> [email protected] >> > > -- > website: http://www.machinekit.io blog: http://blog.machinekit.io github: > https://github.com/machinekit > --- > You received this message because you are subscribed to the Google Groups > "Machinekit" group. > To unsubscribe from this group and stop receiving emails from it, send an > email to [email protected] <javascript:>. > Visit this group at http://groups.google.com/group/machinekit. > For more options, visit https://groups.google.com/d/optout. > > > -- website: http://www.machinekit.io blog: http://blog.machinekit.io github: https://github.com/machinekit --- You received this message because you are subscribed to the Google Groups "Machinekit" group. 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