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/c20e2bad-ccc6-4326-b090-9be0a438d131%40googlegroups.com.
