Home sensors configuration for Robotic Arm
12 Apr 2016 15:55 #73176
by jstoquica
Home sensors configuration for Robotic Arm was created by jstoquica
Hi Everyone,
Now I am finishing my project with the robotic arm, but I have to implement the original "homing sensors" for the initial positioning of the robot.
I have 5 inputs, each one for the 5 DOF.
How can I integrate the sensors with LinuxCNC?
I searched and read some topics in the forum and integrator docs, but I actually don't understand how can I configure the "original homing sensors" with LinuxCNC.
I appreciate your helpful. Thanks a lot.
Now I am finishing my project with the robotic arm, but I have to implement the original "homing sensors" for the initial positioning of the robot.
I have 5 inputs, each one for the 5 DOF.
How can I integrate the sensors with LinuxCNC?
I searched and read some topics in the forum and integrator docs, but I actually don't understand how can I configure the "original homing sensors" with LinuxCNC.
I appreciate your helpful. Thanks a lot.
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13 Apr 2016 11:49 #73220
by andypugh
Replied by andypugh on topic Home sensors configuration for Robotic Arm
What are the original homing sensors?
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13 Apr 2016 17:59 #73243
by jstoquica
Replied by jstoquica on topic Home sensors configuration for Robotic Arm
Andy,
Thanks for your reply.
When I wrote "original homing sensors", they are the original robot sensors. Used for locate at homing position at the original design.
I read more, and I want to ask if only is it add these lines in each axis conf in the *.ini file?. And its connections in the *.hal file?
Thanks.
Thanks for your reply.
When I wrote "original homing sensors", they are the original robot sensors. Used for locate at homing position at the original design.
I read more, and I want to ask if only is it add these lines in each axis conf in the *.ini file?. And its connections in the *.hal file?
HOME_OFFSET = 2.0 (degrees)
HOME_LATCH_VEL = 5 (mm/s)
HOME_FINAL_VEL = 5 (mm/s)
HOME_SEQUENCE = <n>Thanks.
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13 Apr 2016 20:43 #73249
by andypugh
Replied by andypugh on topic Home sensors configuration for Robotic Arm
What you need to do depends on what the sensors are and how they work.
Robots often seem to use index and analogue homing. Others might have a sensor and a long flag, so that they can home to mid-travel.
You need to work out what you have.
Robots often seem to use index and analogue homing. Others might have a sensor and a long flag, so that they can home to mid-travel.
You need to work out what you have.
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14 Apr 2016 12:26 #73295
by jstoquica
Replied by jstoquica on topic Home sensors configuration for Robotic Arm
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14 Apr 2016 13:38 #73299
by andypugh
Where in the range of motion of each joint do they activate? If they are at one end, then you would configure just like for any other machine.
linuxcnc.org/docs/2.7/html/config/ini-homing.html
If they switch at half-way, with one side being "on" and one side being "off" then the normal config will still work.
If they switch in the middle, then it is difficult, because the system has no way to know which side of the switch the joint is currently on.
Replied by andypugh on topic Home sensors configuration for Robotic Arm
How can I integrate them with the homing option in LinuxCNC?.
Where in the range of motion of each joint do they activate? If they are at one end, then you would configure just like for any other machine.
linuxcnc.org/docs/2.7/html/config/ini-homing.html
If they switch at half-way, with one side being "on" and one side being "off" then the normal config will still work.
If they switch in the middle, then it is difficult, because the system has no way to know which side of the switch the joint is currently on.
Please Log in or Create an account to join the conversation.
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