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Hi,
I have reconfigured emc so that I have two alternative setups, either XYBU as axes or XYBV. This is because I have an independant cutter on the U or V axis and this reflects whether the cutter is directed along the X axis to cut perpendicular to the axis of rotation Y, or towards the Y axis for faceplate work. Everything works ok and the display is what I anticipate so no problem there.
However when I select home all axes only the X and Y axes are homed in either setup. I then have to manually home the B and U or V. Is this to be expected?
My ini file has

HOME_OFFSET = 0.0
HOME_SEQUENCE = 0

for all axes so I thought that the B and U V would be included in the sequence but they dont seem to be. So what do I have to add to the ini file to get them included?

thanks

Alan

Do all axes have a HOME_SEQUENCE specified?

And it follows the instructions here?
www.linuxcnc.org/docview/html/config_ini_homing.html#r0_1_2

John

Yes,
All axes have Home_SEQUENCE = 0

I just changed HOME_SEQUENCE = 1 for B and U to see if that made a difference but it didnt.
My ini file is


[EMC]
MACHINE = rose
DEBUG = 0

[DISPLAY]
DISPLAY = axis
GEOMETRY = B X Y U
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/alan/emc2/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml

USER_COMMAND_FILE = tkapp.py
TKAPP = ngcgui_app.tcl
NGCGUI = ngcgui.tcl
NGCGUI_FONT = Courier -10 normal
NGCGUI_PREAMBLE = /home/alan/emc2/nc_files/in_std.ngc
NGCGUI_SUBFILE = /home/alan/emc2/nc_files/slot.ngc
NGCGUI_SUBFILE = /home/alan/emc2/nc_files/simp.ngc
NGCGUI_SUBFILE = /home/alan/emc2/nc_files/iquad.ngc
NGCGUI_SUBFILE = /home/alan/emc2/nc_files/gosper.ngc
NGCGUI_OPTIONS = nonew noremove nonew

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = emc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[HAL]
HALUI = halui
HALFILE = rose.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
# add halui MDI commands here (max 64)

[TRAJ]
AXES = 9
COORDINATES = X Y U B
MAX_ANGULAR_VELOCITY = 60.00
DEFAULT_ANGULAR_VELOCITY = 6.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 5.00
MAX_LINEAR_VELOCITY = 30.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -250.0
MAX_LIMIT = 250.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -200.0
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 133.333333333
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -75.0
MAX_LIMIT = 75.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1


[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 200.0
SCALE = 17.7777777778
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1

I'm pretty sure if you skip any axis then home all stops at the last one in sequence so Y is the last one in the XYZABCUVW sequence.

COORDINATES = X Y U B

John

alanb wrote:
You need axis stanzas up to 7. The V axis is axis 7, which is an explicit link in the code.
You can configure the HAL to use axes 0 through 3 for the joint parameters, but other parts of EMC2 look in the iNI file too.

Axis velocity limits, home positions and home sequence need to be in the hard-coded sections

This explicit link between cartesian axes and joints is actively being removed in one of the development branches of EMC2