https://github.com/zhivko/PipeCutter/blob/master/src/main/resources/myini/machinekit/CRAMPS.ini If this is your current .ini file you did *not* make the changes, not for the right axis anyway. Your setup is still a mess. you now have a min/max limit of -251/251 with a home_offset of 250......why?
This is your joint/axis 0 [AXIS_0] # # Step timing is 40 us steplen + 40 us stepspace # That gives 80 us step period = 12.5 KHz step freq # # Bah, even software stepping can handle that, hm2 doesnt buy you much with # such slow steppers. # # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch # # This gives a maxvel of 12.5/1 = 12.5 ips # TYPE = LINEAR MAX_VELOCITY = 20.0 MAX_ACCELERATION = 5000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 70.0 STEPGEN_MIN_VEL = 0.001 STEPGEN_MAX_ACC = 5000.0 STEPGEN_MIN_VEL = 0.001 BACKLASH = 0.000 # scale is 1600 steps/rev * (1/8) revs/mm = 200 # scale is 800 steps/rev * (1/8) revs/mm = 100 SCALE = -200 MIN_LIMIT = -251.0 MAX_LIMIT = 251.0 #FERROR = 20.0 #MIN_FERROR = 5.00 FERROR = 5 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 250.00 HOME_IGNORE_LIMITS = NO HOME_USE_INDEX = NO HOME_SEQUENCE = 0 HOME_IS_SHARED = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 7 HOME_LATCH_VEL = 1 # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 10000 STEPSPACE = 10000 *This is what it needs to be....no/0/false all mean the same thing on the boolean parameters:* HOME_IGNORE_LIMITS = YES HOME_IS_SHARED = YES For the rest of it you should read this: http://linuxcnc.org/docs/html/config/ini-homing.html The .ini is in too bad a shape to really help with until you make some changes but changing the above should get rid of the joint 0 error. On Monday, August 19, 2019 at 4:15:15 PM UTC-4, Klemen Zhivko wrote: > > I did all those changes and I still get: joint 0 on limit switch error > > 19:24:28,712 [Thread-94] 67801781 INFO commands.MachineKitStart: command > #18 from ['56E58679-B43F81A0'] completed > 19:24:28,764 [Thread-94] 67801833 INFO commands.MachineKitStart: process > command called, id: ['56E58679-B43F81A0'] > 19:24:28,771 [Thread-94] 67801840 INFO commands.MachineKitStart: Issuing > EMC_TASK_SET_STATE -- (+505,+16, +5, +4,) > 19:24:28,782 [Thread-94] 67801851 INFO commands.MachineKitStart: joint 0 > on limit switch error > 19:24:28,786 [Thread-94] 67801855 INFO commands.MachineKitStart: > emc/task/taskintf.cc 617: Error on axis 0, command number 148 > > I posted latest config files in my above github link. > > I am trying to upgrade my BBB machinekit to latest version though - and I > miss libzzmq ver.4 - I cannot pass this condition: > > > checking whether to build unstable development code... not building > development code > checking pkg-config is at least version 0.9.0... yes > checking for CZMQ... no > configure: error: Package requirements (libczmq > 4.0) were not met: > > Requested 'libczmq > 4.0' but version of libczmq is 3.0.2 > > Consider adjusting the PKG_CONFIG_PATH environment variable if you > installed software in a non-standard prefix. > > Alternatively, you may set the environment variables CZMQ_CFLAGS > and CZMQ_LIBS to avoid the need to call pkg-config. > See the pkg-config man page for more details. > > > > On Monday, 19 August 2019 01:21:49 UTC+2, justin White wrote: >> >> Did you change your .ini file back to HOME_IGNORE-LIMITS=YES? if you're >> using a limit switch as a home switch you need to use "yes" to ignore >> limits. You should set HOME_IS_SHARED=1 as well since you are sharing a >> home switch with a limit switch. >> >> Besides that you may need to invert "HOME_LATCH_VEL". The idea is that >> HOME_SEARCH_VEL >> is the speed that the initial homing move runs at, then it backs off the >> limit switch to the HOME_OFFSET position, then it will retrigger the home >> switch at a slower speed for precision. your search and latch velocities >> are both negative, the sequence changes if you invert the latch direction. >> you should experiment with the latch direction until it's right. The type >> of switch you're using dictates how you should do this >> >> Your HOME_OFFSET looks pretty suspect. This should be a small number but >> large enough to de-activate the switch you're using but not 250mm....this >> is not the "home" position. Your min limit is -400, and your max limit is >> 400. So after homing it is saying that your max limit of 400mm is actually >> 250mm away from where it found the home switch. HOME=0.00 will put your >> >> I would try this, then adjust from there: >> HOME_IS_SHARED=1 >> HOME_OFFSET=10 >> HOME=0 (the way your min and max limits are set this should be the middle >> of the machine) >> HOME_LATCH_VEL= -.5 (or .5 to see if inverting helps) >> >> Another thing to note is that I personally never tried using a NC switch >> on a non inverted input. Whereas the limit switch is read as "true" when it >> is not being triggered. This should be OK I think but if all else fails you >> can use the "not" component to invert the signal between the switch and the >> axis.n.limit-inpin >> >> >> >> >> >> On Sunday, August 18, 2019 at 6:46:16 PM UTC-4, Klemen Zhivko wrote: >>> >>> I did required changes, now it happens that homing procedure is breaked >>> with following output on machinekit console: >>> >>> 00:43:42 MT_EMC_OPERATOR_ERROR >>> 00:43:42 hit limit in home state 7 >>> 00:43:42 MT_EMC_OPERATOR_ERROR >>> 00:43:42 joint 0 on limit switch error >>> >>> I updated hal and ini files... Maybe you can spot any other problem? >>> Thanks! >>> >>> On Sunday, 18 August 2019 23:50:03 UTC+2, justin White wrote: >>>> >>>> >>>> according to your hal file you don't have a negative X limit switch, >>>> it's commented out. Your home switch input is connected to your minimum >>>> limit. Your .ini is setup to "home ignore limits" on the X axis. By what >>>> you said it seems that your trying to home to the Xmax side, but your home >>>> switch is the Xmin side and homing is ignoring the limit switches >>>> so....crash. >>>> >>>> Your hal file lines 339-341 are: >>>> net limit-x-min => axis.0.home-sw-in >>>> #net limit-x-min => axis.0.neg-lim-sw-in >>>> net limit-x-max => axis.0.pos-lim-sw-in >>>> >>>> Should be: >>>> net limit-x-max => axis.0.home-sw-in >>>> net limit-x-min => axis.0.neg-lim-sw-in >>>> net limit-x-max => axis.0.pos-lim-sw-in >>>> >>>> If you are using the max limit switch as your home switch you need to >>>> connect the signal from the actual switch to both pins as above. When >>>> homing is active the limit switches are ignored as per the .ini file but >>>> that is OK because it is your home switch. >>>> >>>> >>>> >>>> >>>> >>>> On Sunday, August 18, 2019 at 4:27:04 PM UTC-4, Klemen Zhivko wrote: >>>>> >>>>> I forgot to say I use beaglebone black with cramps hat, NC (normally >>>>> closed) home switch, and also debounce component as i saw from linuxcnc >>>>> forum that not debouncing signal could be issue. >>>>> >>>>> On Sunday, 18 August 2019 22:25:47 UTC+2, Klemen Zhivko wrote: >>>>>> >>>>>> Hi guys, >>>>>> >>>>>> I am using machinekit client and use homing of X axis with following >>>>>> code: >>>>>> >>>>>> pb.Message.Container.Builder builder = Container.newBuilder(); >>>>>> pb.Status.EmcCommandParameters emcCommandParameter = >>>>>> pb.Status.EmcCommandParameters.newBuilder().setIndex(0) >>>>>> .build(); >>>>>> builder.setType(ContainerType.MT_EMC_AXIS_HOME); >>>>>> builder.setEmcCommandParams(emcCommandParameter); >>>>>> builder.setTicket(getNextTicket()); >>>>>> Container container = builder.build(); >>>>>> socket.send(container.toByteArray(),0); >>>>>> >>>>>> When I check hal signal with command: >>>>>> watch -n 2 halcmd show pin axis.0.pos-lim-sw-in >>>>>> I see that on manual press signal changes... Documented in video: >>>>>> https://www.youtube.com/watch?v=-BAKEVgsQ6I >>>>>> >>>>>> However when xmax home limit is touched, x axis continue moving on >>>>>> when finally it is stucked and cannot physically move further, having >>>>>> weird >>>>>> motor noise of stucked axis move. I need to power off machine (software). >>>>>> Fom machinekit I get: >>>>>> 21:51:12 MT_EMC_OPERATOR_ERROR >>>>>> 21:51:12 joint 0 on limit switch error >>>>>> >>>>>> It sounds like a hal problem but cannot find an error. >>>>>> >>>>>> My ini file is in: >>>>>> >>>>>> https://github.com/zhivko/PipeCutter/blob/master/src/main/resources/myini/machinekit/CRAMPS.ini >>>>>> >>>>>> One of first hal files is in: >>>>>> >>>>>> https://github.com/zhivko/PipeCutter/blob/master/src/main/resources/myini/machinekit/CRAMPS.hal >>>>>> >>>>>> It seems I cannot make homing work. Can somebody check my ini and hal >>>>>> - is there an error? >>>>>> >>>>>> Image of xmax home switch is on attached picture. >>>>>> >>>>>> >>>>>> Hope for any reply. >>>>>> >>>>>> -- 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]. To view this discussion on the web visit https://groups.google.com/d/msgid/machinekit/5723ea3f-76e9-4aaa-ac4e-56e52456fb85%40googlegroups.com.
