15. Zeros and Limits¶

▶ 15. Zeros and Limits — Watch on YouTube

[Music] [Music] when we are using jobs and recording when we are using jobs and recording when we are using jobs and recording jobs and saving them to file we want jobs and saving them to file we want jobs and saving them to file we want them to be able to be taken off file them to be able to be taken off file them to be able to be taken off file again later and filmed again if again later and filmed again if again later and filmed again if necessary and we want to know a necessary and we want to know a necessary and we want to know a reference point about which that file reference point about which that file reference point about which that file has been taken if everything we filmed has been taken if everything we filmed has been taken if everything we filmed we only films once it wouldn't matter we only films once it wouldn't matter we only films once it wouldn't matter but if we need to film things multiple but if we need to film things multiple but if we need to film things multiple times then we need a reference point for times then we need a reference point for times then we need a reference point for every axis of the machine this reference every axis of the machine this reference every axis of the machine this reference point could be called zero this point could be called zero this point could be called zero this reference point could be called home reference point could be called home reference point could be called home with the vault robot they arm itself with the vault robot they arm itself with the vault robot they arm itself there are encoders on the axes that are there are encoders on the axes that are there are encoders on the axes that are absolute and these encoders mean that absolute and these encoders mean that absolute and these encoders mean that when we turn on the machine it knows when we turn on the machine it knows when we turn on the machine it knows where it is where it is where it is and those motors can go to the home zero and those motors can go to the home zero and those motors can go to the home zero position easily other axes need zeroing position easily other axes need zeroing position easily other axes need zeroing if we were to look at our focus axis the if we were to look at our focus axis the if we were to look at our focus axis the zeroing settings for our focus axis is a zeroing settings for our focus axis is a zeroing settings for our focus axis is a direct zero this means that when we set direct zero this means that when we set direct zero this means that when we set up a lens and create a focus axis for up a lens and create a focus axis for up a lens and create a focus axis for that lens we need to be able to put the that lens we need to be able to put the that lens we need to be able to put the lens in the correct place each time we lens in the correct place each time we lens in the correct place each time we use that lens and directly zero usually use that lens and directly zero usually use that lens and directly zero usually this is done at infinity when we put the this is done at infinity when we put the this is done at infinity when we put the lens on we put the lens at infinity we lens on we put the lens at infinity we lens on we put the lens at infinity we engage the motor and we directly zero engage the motor and we directly zero engage the motor and we directly zero this means that the motor is at its home this means that the motor is at its home this means that the motor is at its home zero position at infinity and then the zero position at infinity and then the zero position at infinity and then the focus axis can be correctly set up in focus axis can be correctly set up in focus axis can be correctly set up in alignment with where that zero is if we alignment with where that zero is if we alignment with where that zero is if we didn't have that home zero we wouldn't didn't have that home zero we wouldn't didn't have that home zero we wouldn't know know know where our focus access was at any time the triaxis that we've just added to the triaxis that we've just added to this vault also needs a zero system this this vault also needs a zero system this this vault also needs a zero system this axis has a zeroing setting that says axis has a zeroing setting that says axis has a zeroing setting that says it's a datum zero this means the track it's a datum zero this means the track it's a datum zero this means the track axis each morning when we turn on the axis each morning when we turn on the axis each morning when we turn on the machine needs to go and find its zero machine needs to go and find its zero machine needs to go and find its zero position and the way we arrange this is position and the way we arrange this is position and the way we arrange this is we have a datum zero magnet on the we have a datum zero magnet on the we have a datum zero magnet on the tracking in the track this datum zero tracking in the track this datum zero tracking in the track this datum zero magnet we put in position and then we magnet we put in position and then we magnet we put in position and then we can search for that magnet and come off can search for that magnet and come off can search for that magnet and come off that magnet to a chosen zero position the zeroing velocity here is the speed the zeroing velocity here is the speed at which it searches for the magnet the at which it searches for the magnet the at which it searches for the magnet the zero offset is the distance it comes off zero offset is the distance it comes off zero offset is the distance it comes off having found the magnetic edge and then having found the magnetic edge and then having found the magnetic edge and then checked the magnetic edge against a checked the magnetic edge against a checked the magnetic edge against a single line on the track encoder this single line on the track encoder this single line on the track encoder this single line on the track encoder is single line on the track encoder is single line on the track encoder is called the zero marker pulse the zeroing called the zero marker pulse the zeroing called the zero marker pulse the zeroing sequence for the track is it goes sequence for the track is it goes sequence for the track is it goes backwards but ten centimeters a second backwards but ten centimeters a second backwards but ten centimeters a second until it finds the magnet it comes until it finds the magnet it comes until it finds the magnet it comes forward to the magnet that then goes and forward to the magnet that then goes and forward to the magnet that then goes and looks for two zero marker pulses and looks for two zero marker pulses and looks for two zero marker pulses and then does a zero offset at which point then does a zero offset at which point then does a zero offset at which point it says this is home zero that's what it says this is home zero that's what it says this is home zero that's what you'd do this track zero home there's the magnet counting zero marker there's the magnet counting zero marker pulses down two of them going to a home pulses down two of them going to a home pulses down two of them going to a home zero position calling that zero the zero position calling that zero the zero position calling that zero the track is now at zero because the track track is now at zero because the track track is now at zero because the track is now at zero when I do the same shot is now at zero when I do the same shot is now at zero when I do the same shot again tomorrow it's in the same place again tomorrow it's in the same place again tomorrow it's in the same place and will match if I need to do 10 multi and will match if I need to do 10 multi and will match if I need to do 10 multi passes I can turn my machine off between passes I can turn my machine off between passes I can turn my machine off between them and turn it on again home zero and them and turn it on again home zero and them and turn it on again home zero and it will match the other thing that this it will match the other thing that this it will match the other thing that this gives us is a reference point for the gives us is a reference point for the gives us is a reference point for the distance to my hardware limits I have to distance to my hardware limits I have to distance to my hardware limits I have to have Hardware limits on the track that have Hardware limits on the track that have Hardware limits on the track that stop the machine if it goes too far I stop the machine if it goes too far I stop the machine if it goes too far I need these for safety reasons now I'm need these for safety reasons now I'm need these for safety reasons now I'm going to drive the Machine forward and going to drive the Machine forward and going to drive the Machine forward and I'm going to deliberately hit the I'm going to deliberately hit the I'm going to deliberately hit the hardware limit or limit switch which is hardware limit or limit switch which is hardware limit or limit switch which is on the front of the machine on the track I've just hit the limit switch and I am I've just hit the limit switch and I am at 403 centimeters forward of my datum at 403 centimeters forward of my datum at 403 centimeters forward of my datum zero switch or my home position my zero switch or my home position my zero switch or my home position my maximum limit within my axis at the time maximum limit within my axis at the time maximum limit within my axis at the time said 500 this is obviously incorrect so said 500 this is obviously incorrect so said 500 this is obviously incorrect so now I can enable that drive back off it and if I want to now I can go left click and if I want to now I can go left click the right click store and save that the right click store and save that the right click store and save that position which is just back of my zero position which is just back of my zero position which is just back of my zero position save apply that and now when I position save apply that and now when I position save apply that and now when I drive back and drive forward even though drive back and drive forward even though drive back and drive forward even though I am trying to make it go run forward it I am trying to make it go run forward it I am trying to make it go run forward it stops on the software limit which I have stops on the software limit which I have stops on the software limit which I have set just short of my hardware limit each set just short of my hardware limit each set just short of my hardware limit each time Raley's put down I need to put him time Raley's put down I need to put him time Raley's put down I need to put him a datum limit so I can find home and I a datum limit so I can find home and I a datum limit so I can find home and I need to put end limits on for safety to need to put end limits on for safety to need to put end limits on for safety to stop the machine should it go too far if stop the machine should it go too far if stop the machine should it go too far if I only have one piece of rail I can if I only have one piece of rail I can if I only have one piece of rail I can if necessary zero from the end limit by necessary zero from the end limit by necessary zero from the end limit by changing this to limit zero but normally changing this to limit zero but normally changing this to limit zero but normally I will use a datum switch and datum zero I will use a datum switch and datum zero I will use a datum switch and datum zero the only reason I need to find home for the only reason I need to find home for the only reason I need to find home for my track and for my rotate as from my my track and for my rotate as from my my track and for my rotate as from my focus is because those axes have focus is because those axes have focus is because those axes have incremental encoders on and do not know incremental encoders on and do not know incremental encoders on and do not know where they are when you turn them on where they are when you turn them on where they are when you turn them on this allows you to have great deal of this allows you to have great deal of this allows you to have great deal of travel many many motor turns without travel many many motor turns without travel many many motor turns without bothering to come to an end bothering to come to an end bothering to come to an end [Music] [Music] [Music] this has been a mark Roberts motion this has been a mark Roberts motion this has been a mark Roberts motion control training video thank you for control training video thank you for control training video thank you for watching watching watching [Music]