added home switches

Shoptask1720/Shoptask1720.hal

@@ -125,7 +125,7 @@ net x-pos-fb               =>  joint.0.motor-pos-fb
 
 # ---setup home / limit switch signals---
 
-net x-home-sw     =>  joint.0.home-sw-in
+net x-home-sw  hm2_7i76e.0.7i76.0.0.input-13 =>  joint.0.home-sw-in
 net x-neg-limit     =>  joint.0.neg-lim-sw-in
 net x-pos-limit     =>  joint.0.pos-lim-sw-in
 
@@ -194,7 +194,7 @@ net z-pos-fb               =>  joint.1.motor-pos-fb
 #net y-index-enable    joint.1.index-enable  <=>  hm2_7i76e.0.encoder.00.index-enable
 # ---setup home / limit switch signals---
 
-net z-home-sw     =>  joint.1.home-sw-in
+net z-home-sw  hm2_7i76e.0.7i76.0.0.input-14 =>  joint.1.home-sw-in
 net z-neg-limit     =>  joint.1.neg-lim-sw-in
 net z-pos-limit     =>  joint.1.pos-lim-sw-in
 

Shoptask1720/Shoptask1720.ini

@@ -105,8 +105,8 @@ TOOL_TABLE = tool.tbl
 [AXIS_Z]
 MAX_VELOCITY = 0.5
 MAX_ACCELERATION = 4.0
-MIN_LIMIT = -8.5000
-MAX_LIMIT = 7.50
+MIN_LIMIT = -6.600
+MAX_LIMIT = 8.0
 
 [JOINT_1]
 TYPE = LINEAR
@@ -135,18 +135,21 @@ DIRHOLD    = 10000
 STEPLEN    = 5000
 STEPSPACE  = 5000
 STEP_SCALE = 32000
-MIN_LIMIT = -8.50
-MAX_LIMIT = 7.50
-HOME_OFFSET = 0.0
-HOME_SEQUENCE = 1
+MIN_LIMIT = -6.600
+MAX_LIMIT = 8.0
+HOME_OFFSET = 1.0
+HOME_SEQUENCE = 2
+HOME_SEARCH_VEL = 0.5
+HOME_LATCH_VEL = -0.01
+HOME_FINAL_VEL = 0.5
 #******************************************
 
 #******************************************
 [AXIS_X]
 MAX_VELOCITY = 0.5
 MAX_ACCELERATION = 4.0
-MIN_LIMIT = -5.000
-MAX_LIMIT = 5.0
+MIN_LIMIT = -4.8
+MAX_LIMIT = 5.1
 
 [JOINT_0]
 TYPE = LINEAR
@@ -175,10 +178,13 @@ DIRHOLD    = 10000
 STEPLEN    = 5000
 STEPSPACE  = 5000
 STEP_SCALE = -32000
-MIN_LIMIT = -5.000
-MAX_LIMIT = 5.0
-HOME_OFFSET = 0.0
-HOME_SEQUENCE = 0
+MIN_LIMIT = -4.8
+MAX_LIMIT = 5.1
+HOME_OFFSET = 5.0
+HOME_SEQUENCE = 1
+HOME_SEARCH_VEL = 0.5
+HOME_LATCH_VEL = -0.01
+HOME_FINAL_VEL = 0.5
 #******************************************
 
 [MACROS]