Home Command
This command is used to reinitialize the attached mechanism.  It can be found at the bottom of the list of items on the pull down menu that at the top right. 

First it moves the Z axis in the direction of the limit switches until it engages the Z axis limit switch.  

The direction that it moves to engage the limit switch is either INC or DEC, which is controlled by the MCONFIG command or the sethmdir command.  INC means incremental movement in a positive direction, where the coordinate value is increasing.  DEC means decrement movement in a negative direction, where the coordinate value is decreasing.  The speed that it moves the Z axis is determined by the maximum starting steps per second for the Z axis, this is controlled by the MCONFIG command or the setzmaxsss command.  The limit switch for the Z axis is sensed on pin 13 of the parallel port.  It is either considered engaged with the signal is high (+5V) or low (0V), this is controlled by the MCONFIG command or the setlmtmd command.

Once the Z axis engages the limit switches, SuperCam begins moving the X and Y axis motors in the direction of their respective limit switches.  The direction that it moves to engage the limit switch is either INC or DEC, which is controlled by the MCONFIG command or the sethmdir command.  INC means incremental movement in a positive direction, where the coordinate value is increasing.  DEC means decrement movement in a negative direction, where the coordinate value is decreasing.  The speed that it moves the Z axis is determined by the maximum starting steps per second for the Z axis, this is controlled by the MCONFIG command or the setxymaxsss command.  The limit switch is sensed on pin 11 for the X axis and pin 12 for the Y axis, of the parallel port.  It is either considered engaged with the signal is high (+5V) or low (0V), this is controlled by the MCONFIG command or the setlmtmd command.

When SuperCam is controlling dual drive controllers, the controller is Y motor that engages the limit switch first, has the step signal to it's driver interrupted.  The Y motor that has not engaged the limit switch continues to receive step signals and moves until it also engages the limit switch.  The Y limit switches are not sensed as engaged unless both are.   To only use one motor in a synchronized setup, the unused motor drive must have the limit switch hardwired to the engaged condition.  This is normally done by shorting pin 8 and 9 on the DB9 connector of the controller.

When the all limit switches have been engaged.  The coordinates for the mechanism are set equal to the values specified by the sethmloc or the MCONFIG command.  SuperCam reverts to the speeds defined for travel rate, travel slew and travel ramp to perform a moveto to the coordinates specified by the MCONFIG command or the sethome command.  This is normally set to the maximum value for the Z axis and zero for the X & Y coordinates. 

Once the move to destination is reached the command is done and returns to the main input loop.


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Published 2/10/2017 8:09:55 AM
Copyright 2016 Dennis Bohlke