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--- mycnc:gantry_alignment_macro_wizard [2018/08/25 12:09] – skirillov
+++ mycnc:gantry_alignment_macro_wizard [2018/08/26 10:45] – skirillov
@@ Line 288: / Line 288: @@
 </code>
+==== Method 2+ ====
+What should be changed if Gantry alignment procedure needed for other axis (for example Y axis instead of X)
+) Let's say Motor outputs #0 and #1 configured as Y.
+{{mycnc:configuration:mycnc-gantry-005.png}}
+) Procedure to connect both outputs to Y axis will look as
+<code C M219.plc>
+#include vars.h
+main()
+{
+ //parameter=0+16; //"0" is axis X; "16" is axis inversion.
+ parameter=1+16; //"1" is axis Y; "16" is axis inversion.
+ //parameter=2+16; //"2" is axis Z; "16" is axis inversion.
+ //parameter=3+16; //"3" is axis A; "16" is axis inversion.
+ //parameter=4+16; //"4" is axis B; "16" is axis inversion.
+ //parameter=5+16; //"5" is axis C; "16" is axis inversion.
+ command=112+0; //Motor output #0
+ message=PLCCMD_SET_CNC_VAR;
+ timer=2;do{timer--;}while(timer>0);
+ command=112+1; //Motor output #1
+ parameter=1+16; //"1" is axis Y; "16" is axis inversion.
+ message=PLCCMD_SET_CNC_VAR;
+ timer=2;do{timer--;}while(timer>0);
+ exit(99);
+};
+</code>
+) Need to change PLC procedure that looks after sensors to store Y position instead of X.
+Change procedure name to M145.plc
+<code C M145.plc>
+#include pins.h
+// Look after INPUT_GANTRY_S1 & INPUT_GANTRY_S2 input pins
+// Position Y is stored in register #801 when sensor s1 triggered
+// Position Y is stored in register #802 when sensor s2 triggered
+// If both sensors triggered, then
+//  - Motion stopped
+//  - Position difference is calculated and stored into register #800
+main()
+{
+ timer=0;
+ message=PLCCMD_MOTION_CONTINUE;
+ texit=timer+30;do{timer++;}while(timer<texit);
+ mode_12=0;
+ ready=0;
+ s1_old=portget(INPUT_GANTRY_S1);
+ s2_old=portget(INPUT_GANTRY_S2);
+ do
+ {
+ timer++;
+ s1=portget(INPUT_GANTRY_S1);
+ s2=portget(INPUT_GANTRY_S2);
+ mode1=mode_12&1;
+ if (mode1==0)//if sensor 1 wasn't triggered
+ {
+  if (s1!=s1_old) //if triggered now
+   {
+     mode_12=mode_12|1; //set flag for sensor1
+     position1=gvarget(5021+1);	//Save the Machine Y position
+   };
+ };
+ mode2=mode_12&2;
+ if (mode2==0)//if sensor 2 wasn't triggered
+ {
+  if (s2!=s2_old) //if triggered now
+   {
+     mode_12=mode_12|2; //set flag for sensor2
+     position2=gvarget(5021+1);	//Save the Machine Y position
+   };
+ };
+ }while(mode_12!=3);
+ message=PLCCMD_MOTION_SKIP;
+ timer=2;do{timer--;}while(timer>0);
+ gvarset(801,position1); //send the position to myCNC software Register #801
+ timer=50;do{timer--;}while(timer>0);
+ gvarset(802,position2); //send the position to myCNC software Register #802
+ timer=50;do{timer--;}while(timer>0);
+ offset=position1-position2;
+ gvarset(800,offset);
+ timer=50;do{timer--;}while(timer>0);
+ exit(99);
+};
+</code>
+) Fix disable motor PLC procedure. Change procedure name to M211 (instead of M210)
+<code C M211.plc>
+#include vars.h
+main()
+{
+ connect=eparam;
+ message=PLCCMD_SET_CNC_VAR;
+ if (connect==0)
+ {
+  parameter=15;   //OFF
+ }else
+ {
+  parameter=1+16; //"1" is axis Y; "16" is axis inversion.
+ };
+ command=112+1; //Motor output #1
+ timer=2;do{timer--;}while(timer>0);
+ exit(99);
+};
+</code>
+) change the alignment macro to use Y axis instead of X axis
+<code awk M139>
+M145                  (# Set watching for GANTRY Sensors)
+G91 G0 Y-1000 F500    (# Move toward Gantry Sensors)
+( There is message delivery time from PLC to CNC control software)
+( Need to wait some time till registers #800-802 will be updated )
+( Add 0.5 seconds pause to get all the registers refreshed )
+G4 P0.5               (# Pause)
+G10 L81 P810 Q800     (# Get offset in pulses)
+G10 L192 P810 Q5531   (# Calculate offset in units/mm)
+G10 L190 P810 Q805    (# Add adjustment offset)
+M211 P0               (# OFF the second motor, the Only first motor is ON )
+G10 L190 P810 Q5021   (# Add current machine position)
+G28.9 Y810            (# Move 1 motor to adjust)
+M210 P1               (# ON the second motor, both motors are moved together)
+</code>