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Homing

Added by arc310 over 6 years ago

Hi
I have a problem with homing on my HX3040 :
It seems to go OK (Y axis to the endswitch, then X), but then the movement starts again in the same direction and crashes in the axisends.

my config.txt :

net.ip 192.168.0.111 ; IP address [xxx.xxx.xxx.xxx]
net.netmask 255.255.255.0 ; netmask [xxx.xxx.xxx.xxx]
net.gateway 192.168.0.254 ; gateway
net.dns 192.168.0.254 ; DNS server
net.dhcp 0 ; Enable DHCP for IP address [0/1]
net.port 69 ; Communication socket port number []

sys.debug 3 ; debug flags bit0=verbose,
; bit1=log to serial, bit2=log to file
sys.autohome 0 ; Enable automatic homing at startup [1/0]
;(or wait for cover to close)
sys.nodisplay 0 ; Disable the display [1/0]
sys.i2cbaud 0 ; I2C display baudrate [Hz]

laser.enable 0 ; Laser enable signal polarity [0/1]
laser.on 0 ; Laser on signal polarity [0/1]
laser.pwm.min 90 ; minimum pwm value [%]
laser.pwm.max 0 ; maximum pwm value [%]
laser.pwm.freq 1000 ; pwm frequency [Hz]

motion.enable 0 ; Enable signal state to enable motors [0/1]
motion.homespeed 500 ; Homing speed [mm/sec]
motion.speed 50 ; max linear speed [mm/sec]
motion.accel 200 ; linear acceleration [mm/sec2]
motion.tolerance 100 ; tolerance [1/1000 units]

; old firmware: set speed in [usec]
motion.highspeed 100 ; speed in [usec]

; Next values are valid for axis x,y,z and e
x.pol 1 ; home/limit sensor polarity [1/0]
x.scale -158516 ; axis scaling [steps/meter]

; use negative number to invert direction [1/0]
x.homedir 1 ; state of the direction signal when homing
x.home 392000 ; home positions [um]

x.min 0 ; minimal position [um]
x.max -300000 ; maximum position [um]
x.rest 1000 ; rest position [um]
x.speed 100 ; maximum speed [mm/sec]
x.invert 1 ; Invert signal polarity for step signal [1/0]

; Now for the Y-axis:
y.pol 0 ; home/limit sensor polarity [1/0]
y.scale -158516 ; axis scaling [steps/meter]

; use negative number to invert direction [1/0]
y.homedir 1 ; state of the direction signal when homing
y.home -15000 ; home positions [um]

y.min 0 ; minimal position [um];
y.max 200000 ; maximum position [um]
y.rest 1000 ; rest position [um]
y.speed 100 ; maximum speed [mm/sec]
y.invert 1 ; Invert signal polarity for step signal [1/0]


Replies (4)

RE: Homing - Added by jaap over 6 years ago

You define x.max as -300000 and x.home as +392000, this cannot be correct.

For starters, x.max should be positive. If your home position is in the upper right corner, x.home=392000 is correct, but if your homing is left, x.home should be -1000.

RE: Homing - Added by arc310 over 6 years ago

Hi, thanks for your reply

Here is my setup :

X and Y are swapped (compared to a HPC3020) : I swapped the pin definitions in LaosMotion.cpp
With the above config.txt, I can control the head using the I2C panel (ie left moves the head left, up is up and so on)

I read somewhere that x.min and x.max (and for y axis) were not used at the moment, so I didn't bother with them.

What I didn't get so far is :

  • What are the numbers displayed supposed to be on the I2C panel ? Micrometers ?
  • the use of negative numbers to invert direction, is it for scale only (ie the x.home being negative means that the home is on the left of a 0 position) or for scale and positions (x.home negative with a negative scale means that is is on the right)

RE: Homing - Added by arc310 over 6 years ago

OK, my mistake :
I forgot to swap the pins for xhome and yhome in LaosMotion.cpp
Things run much better now...
Still experimenting with config.txt, but no more endcrashes :-)

RE: Homing - Added by arc310 over 6 years ago

OK,
So here is my config.txt.
It works Ok, but I had to change the effect of the joystick (up was moving down, and down was up) in software.


;
; Config file for HPC laser LS-3020
; 
; for the version with flatcable and 26x32 honeycomb
; as distributed in may 2012
;
; configuration made by Jaap Vermaas <jaap@tuxic.nl>
;
; Save on MBED in the root, as "config.txt" 
;
net.ip 192.168.0.111            ; IP address [xxx.xxx.xxx.xxx] 
net.netmask 255.255.255.0       ; netmask [xxx.xxx.xxx.xxx] 
net.gateway 192.168.0.254       ; gateway
net.dns 192.168.0.254           ; DNS server
net.dhcp 0                      ; Enable DHCP for IP address [0/1]
net.port 69                     ; Communication socket port number []

sys.debug  3                    ; debug flags bit0=verbose, 
                                ; bit1=log to serial, bit2=log to file
sys.autohome 1                  ; Enable automatic homing at startup [1/0] 
                                ;(or wait for cover to close)
sys.nodisplay 0                 ; Disable the display [1/0]
sys.i2cbaud 0                   ; I2C display baudrate [Hz]

laser.enable 0                  ; Laser enable signal polarity [0/1]
laser.on 0                      ; Laser on signal polarity [0/1]
laser.pwm.min  0                ; minimum pwm value [%]
laser.pwm.max  90               ; maximum pwm value [%]
laser.pwm.freq 10000            ; pwm frequency [Hz]

motion.enable  0                ; Enable signal state to enable motors [0/1] 
motion.homespeed  50            ; Homing speed [mm/sec]
motion.speed  100               ; max linear speed [mm/sec]
motion.accel  300               ; linear acceleration [mm/sec2]
motion.tolerance  100           ; tolerance [1/1000 units]

; old firmware: set speed in [usec]
motion.highspeed 100            ; speed in [usec]

; Next values are valid for axis x,y,z and e
x.pol 1                         ; home/limit sensor polarity [1/0]
x.scale -158516                 ; axis scaling [steps/meter]

                                ; use negative number to invert direction [1/0]
x.homedir 1                     ; state of the direction signal when homing
x.home -3500                    ; home positions [um] 

x.min 0                         ; minimal position [um]
x.max 400000                    ; maximum position [um]
x.rest 430000                   ; rest position [um]
x.speed 100                     ; maximum speed [mm/sec]
x.invert 1                      ; Invert signal polarity for step signal [1/0]

; Now for the Y-axis:
y.pol 1                         ; home/limit sensor polarity [1/0]
y.scale 158516                  ; axis scaling [steps/meter]

                                ; use negative number to invert direction [1/0]
y.homedir 1                     ; state of the direction signal when homing
y.home 377500                   ; home positions [um]

y.min 0                         ; minimal position [um];
y.max 360000                    ; maximum position [um]
y.rest 350000                   ; rest position [um] 
y.speed 1000                    ; maximum speed [mm/sec]
y.invert 1                      ; Invert signal polarity for step signal [1/0]

; Z-axis not in use for HPC
; z.min 0
; z.max 200000
; z.home 100000
    (1-4/4)