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--- mycnc:gantry_alignment_macro_wizard [2020/01/23 13:31] – ivan
+++ mycnc:gantry_alignment_macro_wizard [2020/01/31 14:24] (current) – ivan
@@ Line 2: / Line 2: @@
 Gantry Alignment macro wizard helps the user to generate a program macro for dual motor gantry alignment. There exist several possible methods for gantry alignment. Almost any method can be implemented by the (skilled) user through the macro/PLC layer, and the Macro Wizard is used to facilitate this process by quickly generating the gantry macro after the user inputs their preferred settings into the wizard. In this manual, we will show two common methods which are often used for gantry alignment.
+The following video goes over this manual:
+{{youtube>TdELVMxbB8Q?large}}
+Please consult the manual below for all referenced PLC/macro code.
 ==== Method 1 ====
@@ Line 24: / Line 30: @@
   - **Use Encoder Z signals for align** - not used
   - **Ignore Limits while align** - If sensors #0 or #1 is used as limit sensor, then Limits should be ignored (set the check mark to ON) during the alignment procedure to prevent the machine from aborting the procedure once the limit sensors are triggered.
-  - **Align while move** - Forward
+  - **Align while move** - set to Forward in this example.
+    - The Forward configuration works as follows: One side reaches the sensor, and the motor for that side stops, while the other side's motor continues forward until the opposite sensor is reached, then stops as well. This method is not ideal as the first initial stop is done at a high speed as the machine suddenly comes into contact with the sensor. The other method is to go Backwards, by triggering one sensor, passing that sensor on one side, then reaching the sensor on the other, and afterwards aligning the system by using the first initial sensor. This method is preferable as the alignment process is done at a lower speed, however it is not feasible if the sensors are set up right near the edge of the table, preventing the machine from moving past them (in that case, the Forward setting should be used).
   - **Final tuning (Motor #1 offset)** - set distance to adjust sensors
-  - **Double check**
+  - **Double check** - allows for greater precision when using the Forward movement method. This is done by moving back after hitting both sensors and then forward again at a slower speed.
   - **Move distance** Distance expected from start position to alignment sensors. This distance should be set a more than real distance to alignment sensors.
   - **Gap** - move out from the sensors for a given distance.
@@ Line 274: / Line 281: @@
 G4 P0.5               (# Pause)
-G10 L81 P810 Q800     (# Get offset in pulses)
+G10 L81 P809 Q800     (Get offset in pulses)
-G10 L192 P810 Q5531   (# Calculate offset in units/mm)
+G10 L193 P809 Q5531   (Calculate offset in units/mm)
-G10 L190 P810 Q805    (# Add adjustment offset)
+G10 L81 P810 Q809     (Copy Offset in units/mm to #810)
+G10 L190 P810 Q805    (Add tuning offset)
 M210 P0               (# OFF the second motor, the Only first motor is ON )
@@ Line 436: / Line 444: @@
 G4 P0.5               (# Pause)
-G10 L81 P810 Q800     (# Get offset in pulses)
+G10 L81 P809 Q800     (Get offset in pulses)
-G10 L192 P810 Q5531   (# Calculate offset in units/mm)
+G10 L193 P809 Q5531   (Calculate offset in units/mm)
-G10 L190 P810 Q805    (# Add adjustment offset)
+G10 L81 P810 Q809     (Copy Offset in units/mm to #810)
+G10 L190 P810 Q805    (Add tuning offset)
 M211 P0               (# OFF the second motor, the Only first motor is ON )
-G10 L190 P810 Q5021   (# Add current machine position)
+G10 L190 P810 Q5022   (# Add current machine position)
 G28.9 Y810            (# Move 1 motor to adjust)
-M210 P1               (# ON the second motor, both motors are moved together)
+M211 P1               (# ON the second motor, both motors are moved together)
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