Homing failures¶
Stop with the E-stop first; a joint driven against its stop strips a belt or cracks a part.
A joint does not stop at its switch¶
- Joints 2, 3, 5 use mechanical limit switches. Check that the lever is pressed by the moving part, that
the switch clicks, and that it is wired to 24 V and its signal terminal (polarity does not matter). The test
firmware's
#LIMITshows the state live. - Joints 1, 4, 6 use inductive sensors that detect a screw head. The sensor's LED lights when it sees metal. If it does not light as the joint passes, adjust the trigger screw closer; the 4 mm sensors see about 1 to 2 mm. Wiring: brown 24 V, blue GND, black signal.
- A switch on the wrong joint's terminal: wire each switch and sensor to the terminal the
wiring diagram shows for its joint; the test
firmware's
#LIMITshows which input changes when you press a switch.
A joint stops too early¶
The switch triggers before the joint reaches it: a wire shorted, a sensor too close to a screw it should not see, or a switch lever caught. Also the reason a homed pose is far off on one joint.
Joint 6 turns more than a turn¶
Its sensor never sees the homing pin. Before homing, turn joint 6 by hand so that the pin is just before the sensor in the direction of rotation (Homing), and check the sensor's gap.
Joint 5 does not reach its switch¶
The tool's homing feature is missing or in the wrong place, or the firmware's j5_homing_offset is for another
tool (Your own tool).
The homed pose does not match the witness marks¶
By a fraction of a degree: master the joint. By more: the joint slipped, a belt or coupler, or the switch moved. Inspect, then master.
Homing never finishes in the software¶
The PC lost the packet stream, or the firmware is waiting for a joint that does not report. Check the log, press
Clear error or reset(), and home again.
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