Dynomotion Forum

Hello

Could anyone assist me in implementing homing sequence for a 2 axis machine,
Version of Kflop 1.2 ,Kmotion434, PC VB example Dynomotion dotNet
I have written code for reading corresponding bits of each axis and if high proximity sensor is activated.

Regards
Gary

Can you post what code you've already written?

Hello Moray
Thanks for reply
I have only got to stage of reading state of bits


VB.net Form Code:

Public Sub HomeMotors()

If updating = False Then ' Move X and Y motors to proximity sensors
SendCommand = (String.Format("MoveXYZABC" & " " & "-50.0 -50.0 0.0 0.0 0.0 0.0"))
device.ProcessCommandXY(SendCommand)
SendCommand = ""
End If

End Sub

Private Sub btnHome_Click(sender As Object, e As EventArgs) Handles btnHome.Click

btnRight.Enabled = False
btnUp.Enabled = False
btnDown.Enabled = False
btnLeftDownNudge.Enabled = False
btnRightUpNudge.Enabled = False
btnLeft.Enabled = False
btnLeftUpNudge.Enabled = False
btnDownRightNudge.Enabled = False
btnZDown.Enabled = False
btnZUp.Enabled = False

HomeMotors()
End Sub

Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick

updating = True
device.UpdateValues()
XPosition.Text = Format(Val(device.XPosition), "0.00")
YPosition.Text = Format(Val(device.YPosition), "0.00")
' ZPosition.Text = Format(Val(device.ZPosition), "0.00")

If device.XPosition = 0 AndAlso device.YPosition = 0 Then
btnRight.Enabled = True
btnUp.Enabled = True
btnDown.Enabled = True
btnLeftDownNudge.Enabled = True
btnRightUpNudge.Enabled = True
btnLeft.Enabled = True
btnLeftUpNudge.Enabled = True
btnDownRightNudge.Enabled = True
btnZDown.Enabled = True
btnZUp.Enabled = True
End If

txtXPulses.Text = device.XPosition * 12.78
txtYPulses.Text = device.YPosition * 12.78

chkEnableX.Checked = device.XEnabled
chkEnableY.Checked = device.YEnabled
' chkEnableZ.Checked = device.ZEnabled

If MovingXAxis Then
responseX = device.ResponseX
End If
If MovingYAxis Then
responseY = device.ResponseY
End If

If device.ReadBit4 = True Then ' X axis bit4 state
ChkLimitX.CheckState = CheckState.Checked
Else
ChkLimitX.CheckState = CheckState.Unchecked
End If

If device.ReadBit5 = True Then ' Y axis bit5 state
ChkLimitY.CheckState = CheckState.Checked
Else
ChkLimitY.CheckState = CheckState.Unchecked
End If

updating = False

' draw rectangle shape
If rubberBanding Then
Panel1.Invalidate()
End If

End Sub
-----------------------------------------------------------------------------------------------------------


Public Class DynoMotionVBnetProvider code:

Public Sub UpdateValues()

' check if the board is available
If (_Controller.WaitToken(100) = KMotion_dotNet.KMOTION_TOKEN.KMOTION_LOCKED) Then
_Controller.ReleaseToken()

Try
_XPosition = Convert.ToDouble(_Controller.WriteLineReadLine("Dest0") / _Controller.CoordMotion.MotionParams.CountsPerInchX) * 25.4
_YPosition = Convert.ToDouble(_Controller.WriteLineReadLine("Dest1") / _Controller.CoordMotion.MotionParams.CountsPerInchY) * 25.4
'_ZPosition = Convert.ToDouble(_Controller.WriteLineReadLine("Dest2") / _Controller.CoordMotion.MotionParams.CountsPerInchZ)* 25.4


_ResponseX = _Controller.WriteLineReadLine("CheckDone0")
_ResponseY = _Controller.WriteLineReadLine("CheckDone1")
_ResponseXY = _Controller.WriteLineReadLine("CheckDoneXYZABC")

_XEnabled = Convert.ToDouble(_Controller.WriteLineReadLine("Enabled0"))
_YEnabled = Convert.ToDouble(_Controller.WriteLineReadLine("Enabled1"))
' _ZEnabled = Convert.ToDouble(_Controller.WriteLineReadLine("Enabled2"))

_ReadBit0 = Convert.ToDouble(_Controller.WriteLineReadLine("ReadBit0")) ' laser
_ReadBit1 = Convert.ToDouble(_Controller.WriteLineReadLine("ReadBit1")) 'sandblaster
_ReadBit2 = Convert.ToDouble(_Controller.WriteLineReadLine("ReadBit2")) ' vacuum
_ReadBit4 = Convert.ToDouble(_Controller.WriteLineReadLine("ReadBit4")) ' X Axis homing
_ReadBit5 = Convert.ToDouble(_Controller.WriteLineReadLine("ReadBit5")) ' Y Axis homing

Catch ex As KMotion_dotNet.DMException
MessageBox.Show(ex.InnerException.Message(), "Dynomotion")
End Try

End If

End Sub

Public Sub ProcessCommandXY(ByVal sCommand As String)
WriteLineException(sCommand)
End Sub

I've just realised you posted in the User PC Apps forum.

You'll need to do the actual homing routine using a C program, as the lag between PC and KFlop is to slow to detect bit changes quickly (IIRC it's around 10Hz), unless you run homing at a very slow speed.

Easiest option is to create a couple basic C programs that you download and run depending on axis being homed, and have them set a couple virtual bits once homing is complete, and have your PC app monitor the virtual bits so it knows when homing is complete.

Hi Gary,

You might also see the SimpleHomeIndexFunctionTest.c example.

Hello Moray

Thanks for your help

Regards
Gary

Hello Tom

Thank you for reply, i have taken a look at file.
I only have basic knowledge of vb.net.
as file is c code how do i use file within vb.net program or do i need to convert c file to vb.net?
please excuse my lack of understanding

Regards
Gary

Hi Gary,

Any homing program needs to be written in C and executed in KFLOP.

You can debug the program using KMotion.exe C Program Screen. Then after it is working you can Compile/Load/Run the program in KFLOP with a single function call from your VB.net program to our .NET Library. See this .NET function.

HTH

Hello Tom

Thanks for your help.

Regards
Gary