Limit switchs

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05 Jan 2020 02:43 #154071 by jeffie-3
Replied by jeffie-3 on topic Limit switchs
OK I moved 0.100 on the indicator the dro says 0.4172. I am using a digital indicator.

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05 Jan 2020 02:56 #154072 by PCW
Replied by PCW on topic Limit switchs
Is this reliable?

( does moving another 0.1" add another 0.4172 to the DRO reading )

If so the scale is off by more than a factor of 4

This may be because you have not considered that a quadrature encoder
will have 4X its PPR counts per turn (a 2048 PPR encoder will have 8192 counts per turn)
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05 Jan 2020 03:12 #154073 by jeffie-3
Replied by jeffie-3 on topic Limit switchs
Thank you. I looked at the manual it said one 360 turn was 2048 I never noticed the word quadrant. I just set it by the 2048. Thank you for the help. I multiplied the number in the INI file and it is close now. I'll tune the servos now. Again that you for the help.

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18 Feb 2020 02:42 #157678 by jeffie-3
Replied by jeffie-3 on topic Limit switches errors
I am at the point I am getting ready to do the PID stuff. I needed to home the axis. When I home the machine and it hits the switch I get this

Z axis. Joint 2 following error.
Y Axis. Joint 1 following error.
X Axis. Joint 0 limit switch error.

How do I fix this?

Thank you.

Jeff

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18 Feb 2020 03:11 #157679 by rodw
Replied by rodw on topic Limit switchs
At a guess, you have a shared home/limit switch and the one on the X axis was triggered on homing. Then it comes out of homing while the switch is actiivated and it sees the switch as being on the limit. So add a HOME OFFSET to move the axis away from the home switch so it does not trigger the limit switch once homing is complete. I suspect the following errors will go away but one step at a time.
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18 Feb 2020 22:08 #157766 by jeffie-3
Replied by jeffie-3 on topic Limit switchs
Thank you, I made progress. But I have an error of "exceeded negative soft limit on joint"

here is the section of the .ini file. I'm sure I have something wrong. I am just doing one axis at a time.

********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
P = 40
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 1e-05
MAX_OUTPUT = 0
ENCODER_SCALE = 81920
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = 0.1
MAX_LIMIT = 24.0
HOME_OFFSET = 0.25000
HOME_SEARCH_VEL = 0.25000
HOME_LATCH_VEL = 0.016667
HOME_FINAL_VEL = 0.050000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

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18 Feb 2020 22:23 #157770 by Clive S
Replied by Clive S on topic Limit switchs
You have home set to 0.0 and min limit to 0.1

Try setting the min limit to -0.1
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18 Feb 2020 22:38 #157774 by jeffie-3
Replied by jeffie-3 on topic Limit switchs
That worked. Now onto the Y axis this evening or tomorrow. Thank you for your help.

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18 Feb 2020 22:47 #157776 by Clive S
Replied by Clive S on topic Limit switchs

That worked. Now onto the Y axis this evening or tomorrow. Thank you for your help.


Your welcome. I have had loads of help on here and glad to put some back.:woohoo:
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19 Feb 2020 14:22 #157858 by jeffie-3
Replied by jeffie-3 on topic Limit switchs
O.K. As I home the Y axis it goes in, then backs up then moves much slower towards the switch. Then I get joint 1 following error. I also noticed it errors out at almost the same spot. I ran it 3 times and here are the numbers I get.
Y-0.1890
Y-0.1835
Y-0.1831



Here is the Y section of the .ini file.

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
P = 200
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 1e-05
MAX_OUTPUT = 0
ENCODER_SCALE = 81920
OUTPUT_SCALE = -10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -0.1
MAX_LIMIT = 12.0
HOME_OFFSET = -0.250000
HOME_SEARCH_VEL = 0.250000
HOME_LATCH_VEL = 0.016667
HOME_FINAL_VEL = 0.050000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
Thank you for the help.

Jeff

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