Dynomotion Forum

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	// Set up soft limits - these were all set to +/- 1e+030
        ch0->SoftLimitPos=89950;
	ch0->SoftLimitNeg=-390;
	ch1->SoftLimitPos=89950;
	ch1->SoftLimitNeg=-390;
	ch2->SoftLimitPos=180690;
	ch2->SoftLimitNeg=-1380;
	ch3->SoftLimitPos=2870;
	ch3->SoftLimitNeg=-63630;

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// New Touch Off.c
// Edited version of touch off routine for Jon's & Fred's routers.
// Modified from Randy's version, with sign changes and pin numbers.
// Mic'ed block was 0.514" thick, desired back off total of 1"
// v1 4-7-18  jpm
// 
// 

#include "KMotionDef.h"
#define TMP 10
#include "KflopToKMotionCNCFunctions.c"


#define PIN 19              // I/O pin 19 for the touch off block
#define Z 3                 // Channel 3 is Z axis
#define TICKS 5081.3        // 5081.3 'ticks' per inch on Z axis
#define PUCK_THICKNESS .514   // Thickness of touch off block in inches
#define BACKOFF .486          // Difference between touch off block thickness and desired back off in inches
#define SLOW 2000
#define FAST 5000

main()
{
    
    // KStepPresent=TRUE;  // enable KSTEP input multiplexing - I don't think this applies to our machines?
    
    FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80;
 
    EnableAxis(Z); 
  
    Jog(Z,-SLOW);               // jog slowly negative
    while (ReadBit(PIN));      // loop until IO bit goes low
    Jog(Z,0);                   // stop the axis
    while (!CheckDone(Z));       // loop until motion completes 
 
    MoveRelAtVel(Z,BACKOFF*TICKS,FAST);    // move the backoff distance
    while (!CheckDone(Z));
   
    DisableAxis(Z);
    chan[Z].Position=(PUCK_THICKNESS+BACKOFF)*TICKS;
    EnableAxis(Z);
    
    DoPCFloat(PC_COMM_SET_Z,PUCK_THICKNESS+BACKOFF);
	
	printf("Puck thickness is = %f\n",PUCK_THICKNESS);
	printf("Back off is = %f\n",BACKOFF);
	printf("Total back off is = %f\n",PUCK_THICKNESS+BACKOFF);

        
    }

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    chan[Z].Position=( ... setting to 1" with math... );

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    DoPCFloat( ...also set to 1" using math... );