On 3 January 2014 02:05, Josiah Morgan <[email protected]> wrote:
> does anyone have a script written for homing in this scenario? If the gantry can survive a momentary out-of-square then you may find that nothing special needs to be done. Simply give the same homing sequence number to each side. The problem here is that when one side id searching for the latch the other side might be backing off prior to searching for the latch, so the two sides might end up moving in opposite directions. I have wondered if the homing behaviour should be to not move any joint on to the next homing stage until all joints with the same homing sequence number have completed the prior stage, but then it gets a bit more complicated if you need to consider questions like whether the first joint to find the limit should continue in the same direction or should stop. (I think perhaps the answer is "stop" but then it is changing state without waiting, and my simple scenario no longer holds. If you simply use the existing home behaviour with a shared sequence number then the gantry will only actually be squared at the end of the final home move. Up to that point the out-of-square might even be worse. You certainly want the final move from latch to home position to be as short as possible. -- atp If you can't fix it, you don't own it. http://www.ifixit.com/Manifesto ------------------------------------------------------------------------------ Rapidly troubleshoot problems before they affect your business. Most IT organizations don't have a clear picture of how application performance affects their revenue. With AppDynamics, you get 100% visibility into your Java,.NET, & PHP application. Start your 15-day FREE TRIAL of AppDynamics Pro! http://pubads.g.doubleclick.net/gampad/clk?id=84349831&iu=/4140/ostg.clktrk _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
