limit_axis9
Dynamic range based axis limits
Usage
loadrt limit_axis [count=N|names=name1[,name2...]] [personality=P1,P2,...]
Overview
limit_axis.c
Limit axis to certain limits at varying inputs For example on a spindle with C rotation, to avoid hitting a gantry when the height is above Z-10
- Use Z axis as feedback
- Use 2 ranges (0,-10) (-10, -40)
- When Z is above 10, C rotation is limited to range 0
- When Z is below 10, C rotation is limited to range 1
Usage:
loadrt limit_axis count=3 personality=2,3,2
or
loadrt limit_axis names=limit_x,limit_y,limit_z personality=2,3,2
The "personality" argument defines how many ranges are supported by each instance.
(Note that no spaces can be used in the names= and personality= parameters)
Caveats
- Searches ranges from 0 to 9 and will take the first range that matches
- Ranges are inclusive min_range <= feedback <= max_range
- Max can not be less than minimum for any group
- Sticky indicates, to not check other ranges if the feedback is still in the current range
- Enable allows for a range to be turned on/off, for cases such as avoiding a tool changer, but allowing sometimes
Functions
limit-axis.N (requires a floating-point thread)
Pins
limit-axis.N.error-no-range bit out
|
error pin indicating that no range matches the fb |
|---|---|
limit-axis.N.min-output float out
|
Minimum limit output |
limit-axis.N.max-output float out
|
Maximum limit output |
limit-axis.N.fb float in
|
Feedback pin, the value of this pin determines which range is active |
limit-axis.N.current-range u32 out
|
Indicates which range is currently active |
limit-axis.N.min-limit-MM float in (MM=00..personality)
|
The array of minimum limits to select from |
limit-axis.N.max-limit-MM float in (MM=00..personality)
|
The array of macimum limits |
limit-axis.N.min-range-MM float in (MM=00..personality)
|
Defines the range of values with which the fb is compared to set the range |
limit-axis.N.max-range-MM float in (MM=00..personality)
|
Defines the range of values with which the fb is compared to set the range |
limit-axis.N.enable-MM bit in (MM=00..personality)
|
Used to enable and disable a specific range |
limit-axis.N.sticky-MM bit in (MM=00..personality)
|
Used to make specific range 'sticky' or not |
limit-axis.N.error-range-MM bit out (MM=00..personality) (default: 1)
|
Error bit indicating that the fb pin falls outside all ranges |
limit-axis.N.error-limit-MM bit out (MM=00..personality) (default: 1)
|
Error bit indicating that the max limit is not larger than the min limit |