Hi Justin, from machinekit docs: http://www.machinekit.io/docs/config/ini_homing/#home_offset it says: ..."Contains the location of the home switch or index pulse, in joint coordinates. It can also be treated as the distance between the point where the switch or index pulse is latched and the zero point of the joint. After detecting the index pulse, Machinekit sets the joint coordinate of the current point to HOME_OFFSET." Since my limit switch for X axis (axis 0) is at 250, I set this to 250. - middle of workpiece is at location 0.
"not for the right axis anyway" - why? I have only x limit switches and AXIS_0 IS x axis in my case? What do you mean not the right axis anyway ? " you now have a min/max limit of -251/251 with a home_offset of 250......why?" limits of x axe are -251 and 251, and home_offset by definition from docs (quoted above) should be 250 ?? Please correct me if I do not understand correctly. I am still getting "joint 0 on limit switch error" while homing axis 0. I updated git with latest configs. For HOME_IGNORE_LIMITS documentation says "If you do not have a separate home switch set this to YES and case connect the limit switch signal to the home switch input in HAL". I have separate home switch (cramps hat for bbb has XYZ for each min max pins available), therefore I set that to NO. But I also tried with YES and I get error in each case. Regarding my 0 value instead YES - it must be because I read documentation you mention - in http://linuxcnc.org/docs/html/config/ini-homing.html <http://www.google.com/url?q=http%3A%2F%2Flinuxcnc.org%2Fdocs%2Fhtml%2Fconfig%2Fini-homing.html&sa=D&sntz=1&usg=AFQjCNFz3La6lbM_y7Pmo8tqXDTfeDYz6A> - in there it says: 3.8. HOME_IS_SHARED If there is not a separate home switch input for this axis, but a number of momentary switches wired to the same pin, set this value to 1 to prevent homing from starting if one of the shared switches is already closed. Set this value to *0* to permit homing even if the switch is already closed. You will see linuxcnc is using 0, and machinekit NO. This is output from log: 00:57:45,181 [Thread-314] 174198250 INFO commands.MachineKitStart: emcTaskPlanSynch() returned 0 00:57:45,183 [Thread-314] 174198252 INFO commands.MachineKitStart: joint 0 on limit switch error 00:57:45,197 [Thread-314] 174198266 INFO commands.MachineKitStart: NML_INTERP_LIST::append(nml_msg_ptr{size=12,type=EMC_TASK_PLAN_SYNCH}) : list_size=1, line_number=0 00:57:45,207 [Thread-314] 174198276 INFO commands.MachineKitStart: waiting for command #87 from ['56E58679-B43F81A0'] to complete 00:57:45,298 [Thread-314] 174198367 INFO commands.MachineKitStart: sending task message 00:57:45,656 [Thread-314] 174198725 INFO commands.MachineKitStart: sending motion message 00:57:46,104 [Thread-314] 174199173 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING 00:57:46,105 [Thread-314] 174199174 INFO commands.MachineKitStart: 00:57:46,106 [Thread-314] 174199175 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING 00:57:46,106 [Thread-314] 174199175 INFO commands.MachineKitStart: 00:57:46,167 [Thread-314] 174199236 INFO commands.MachineKitStart: D: 19-08-20 22:57:48 [017] 56E58679-B43F81A0 00:57:46,167 [Thread-314] 174199236 INFO commands.MachineKitStart: D: 19-08-20 22:57:48 [003] 08D201 00:57:46,167 [Thread-314] 174199236 INFO commands.MachineKitStart: handle_command_input: req=type: MT_PING 00:57:46,167 [Thread-314] 174199236 INFO commands.MachineKitStart: 00:57:46,168 [Thread-314] 174199237 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING_ACKNOWLEDGE 00:57:46,168 [Thread-314] 174199237 INFO commands.MachineKitStart: uuid: "\265\371\254\026\303\235\021\351\265gTJ\026\305\320*" 00:57:46,168 [Thread-314] 174199237 INFO commands.MachineKitStart: 00:57:47,166 [Thread-314] 174200235 INFO commands.MachineKitStart: D: 19-08-20 22:57:49 [017] 56E58679-B43F81A0 00:57:47,166 [Thread-314] 174200235 INFO commands.MachineKitStart: D: 19-08-20 22:57:49 [003] 08D201 00:57:47,166 [Thread-314] 174200235 INFO commands.MachineKitStart: handle_command_input: req=type: MT_PING 00:57:47,166 [Thread-314] 174200235 INFO commands.MachineKitStart: 00:57:47,168 [Thread-314] 174200237 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING_ACKNOWLEDGE 00:57:47,168 [Thread-314] 174200237 INFO commands.MachineKitStart: uuid: "\265\371\254\026\303\235\021\351\265gTJ\026\305\320*" 00:57:47,168 [Thread-314] 174200237 INFO commands.MachineKitStart: 00:57:48,104 [Thread-314] 174201173 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING 00:57:48,104 [Thread-314] 174201173 INFO commands.MachineKitStart: 00:57:48,105 [Thread-314] 174201174 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING 00:57:48,105 [Thread-314] 174201174 INFO commands.MachineKitStart: 00:57:48,167 [Thread-314] 174201236 INFO commands.MachineKitStart: D: 19-08-20 22:57:50 [017] 56E58679-B43F81A0 00:57:48,167 [Thread-314] 174201236 INFO commands.MachineKitStart: D: 19-08-20 22:57:50 [003] 08D201 00:57:48,167 [Thread-314] 174201236 INFO commands.MachineKitStart: handle_command_input: req=type: MT_PING 00:57:48,167 [Thread-314] 174201236 INFO commands.MachineKitStart: 00:57:48,168 [Thread-314] 174201237 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING_ACKNOWLEDGE 00:57:48,168 [Thread-314] 174201237 INFO commands.MachineKitStart: uuid: "\265\371\254\026\303\235\021\351\265gTJ\026\305\320*" 00:57:48,168 [Thread-314] 174201237 INFO commands.MachineKitStart: 00:57:49,165 [Thread-314] 174202234 INFO commands.MachineKitStart: D: 19-08-20 22:57:51 [017] 56E58679-B43F81A0 00:57:49,166 [Thread-314] 174202235 INFO commands.MachineKitStart: D: 19-08-20 22:57:51 [003] 08D201 00:57:49,167 [Thread-314] 174202236 INFO commands.MachineKitStart: handle_command_input: req=type: MT_PING 00:57:49,167 [Thread-314] 174202236 INFO commands.MachineKitStart: 00:57:49,169 [Thread-314] 174202238 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING_ACKNOWLEDGE 00:57:49,169 [Thread-314] 174202238 INFO commands.MachineKitStart: uuid: "\265\371\254\026\303\235\021\351\265gTJ\026\305\320*" 00:57:49,169 [Thread-314] 174202238 INFO commands.MachineKitStart: 00:57:50,104 [Thread-314] 174203173 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING 00:57:50,104 [Thread-314] 174203173 INFO commands.MachineKitStart: 00:57:50,105 [Thread-314] 174203174 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING 00:57:50,105 [Thread-314] 174203174 INFO commands.MachineKitStart: 00:57:50,166 [Thread-314] 174203235 INFO commands.MachineKitStart: D: 19-08-20 22:57:52 [017] 56E58679-B43F81A0 00:57:50,167 [Thread-314] 174203236 INFO commands.MachineKitStart: D: 19-08-20 22:57:52 [003] 08D201 00:57:50,169 [Thread-314] 174203238 INFO commands.MachineKitStart: handle_command_input: req=type: MT_PING 00:57:50,169 [Thread-314] 174203238 INFO commands.MachineKitStart: 00:57:50,170 [Thread-314] 174203239 INFO commands.MachineKitStart: send_pbcontainer: type: MT_PING_ACKNOWLEDGE 00:57:50,170 [Thread-314] 174203239 INFO commands.MachineKitStart: uuid: "\265\371\254\026\303\235\021\351\265gTJ\026\305\320*" 00:57:50,170 [Thread-314] 174203239 INFO commands.MachineKitStart: 00:57:50,593 [Thread-314] 174203662 INFO commands.MachineKitStart: command #87 from ['56E58679-B43F81A0'] completed 00:57:50,596 [Thread-314] 174203665 INFO commands.MachineKitStart: process command called, id: ['56E58679-B43F81A0'] 00:57:50,612 [Thread-314] 174203681 INFO commands.MachineKitStart: Issuing EMC_TASK_SET_STATE -- (+505,+16, +8, +4,) 00:57:50,625 [Thread-314] 174203694 INFO commands.MachineKitStart: joint 0 on limit switch error 00:57:50,627 [Thread-314] 174203696 INFO commands.MachineKitStart: emc/task/taskintf.cc 617: Error on axis 0, command number 176 [image: halscope_xmin_xmax.png] On Monday, 19 August 2019 22:34:34 UTC+2, justin White wrote: > > > 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/7c603de6-4539-4910-a68c-5d9052e60315%40googlegroups.com.
