GRBL v1.1版本原点复位功能的介绍

GRBL v1.1版本原点复位功能的wiki翻译

Set up the HomingCycle

Source websit：https://github.com/gnea/grbl/wiki/Set-up-the-Homing-Cycle

 

Prerequisites:

前提

Correctly configured axes.

正确设置主轴运动

 

Home switches pins andwiring

原点复位运动的引脚和连接

3 digital input pins are used for signaling Grbl:

Grbl所使用的信号对应的数字输入引脚

· Pin 9 X Axislimit/Home input pin

· Pin 10 Y Axislimit/Home input pin

· Pin 12 Z Axislimit/Home input pin

· 第9端口是X轴限位的输入引脚

· 第10端口是Y轴限位的输入引脚

· 第12端口是Z轴限位的输入引脚

Another place that explain the Limit switchconfiguration: Wiring-Limit-Switches

另一个解释限位开关配置的wiki

Limit switches usually have three terminals. One iscommon terminal, one is normally open to common terminal and another one isnormally closed to common. In this case, we are going to use two terminals,normally open (NO) and common (COM). Use of NC instead of NO is enabled by configuring$5=1. All the common lines go to the arduino's GND, the NO lines go to the pin for that axis. This will resultin this wiring:

限位开关通常有三个端子，一个是公共端，一个是常开端子（相对于公共端）另一个是常闭端（相对于公共端），在这种情况下，我们一般使用两个端子，常开端子和公共端子，使用常闭NC代替常开NO需要通过配置$5=1来使能，所有的com端接线接到adruino的GND上，NO端接线接到对应的轴限位引脚，接线方法如下

· *X- limit NO-> Arduino Pin 9

· *X- limit COM-> Arduino Pin GND

· *X+ limit NO-> Arduino Pin 9

· *X+ limit COM-> Arduino Pin GND

· *Y- limit NO-> Arduino Pin 10

· *Y- limit COM-> Arduino Pin GND

· *Y+ limit NO-> Arduino Pin 10

· *Y+ limit COM-> Arduino Pin GND

· *Z- limit NO-> Arduino Pin 12

· *Z- limit COM ->Arduino Pin GND

· *Z+ limit NO-> Arduino Pin 12

· *Z+ limit COM-> Arduino Pin GND

· X轴﹣NO限位开关->Adruino 第9端口

· X轴﹣NO限位开关->Adruino GND引脚

· X轴﹢NO限位开关->Adruino 第9端口

· X轴﹢NO限位开关->Adruino GND引脚

· Y轴﹣NO限位开关->Adruino 第10端口

· Y轴﹣NO限位开关->Adruino GND引脚

· Y轴﹢NO限位开关->Adruino 第10端口

· Y轴﹢NO限位开关->Adruino GND引脚

· Z轴﹣NO限位开关->Adruino 第12端口

· Z轴﹣NO限位开关->Adruino GND引脚

· Z轴﹢NO限位开关->Adruino 第12端口

· Z轴﹢NO限位开关->Adruino GND引脚

 

EnableHome Cycle and Setup Home Parameters

使能原点回归和设置参数

Homing is controlled by parameter $22. Type $22=1 toenable it, $22=0 to disable it. Homing can be triggered by typing $H.

原点回归功能是由$22参数控制的，设置$22=1是使能该功能，$22=0是不使能，输入$H可以触发原点归为

 

Homing direction

原点的方向

The homing directions are controlled by setting $23

回归运动的方向是由$23参数控制的

· Default setting($23=0), the home location is the top right of your work area, with the spindleall the way up.

· $23=1 Top lefthome location.

· $23=2 Bottom ofyour work area to be the home location.

· $23=4 Spindledown home location.

· 默认设置是$23=0，原点的位置是你工作区域的左上方，是所有主轴的最前端

· $23=1设置左上角位置

· $23=2设置工作区域的底部是原点坐标

· $23=4轴的起点是原点坐标

 

Homing Cycle Steps

原点回归的步骤

By default, the homing cycle goes through thefollowing steps:

默认设置中，原点回归会经过以下步骤

· Z axis

1.  Z Axis will move up (positive) with Fast Rate ($25)

2.  When Z home switch triggered, Z stop for a short time ($26) and back offa distance ($27)

3.  Z Axis will move up slowly util it touches the Z home switch again ($24)

4.  Z Axis backs off a small distance ($27)

 

· X and Y axis

1.  X, Y Axis move both to Homing direction at fast rate ($25)

2.  The first Axis triggers the switch will stop and wait for the second axisto trigger

3.  When second axis triggers the switch, both axis back off a distance ($27)

4.  Both X and Y axis will move toward switches again slowly, until bothswitches triggered again ($24)

5.  Both X and Y axis will back off a small distance ($27)

· Z轴

Z轴会向上快速运动($25)

1.  当碰到Z轴限位开端的时候，Z轴会马上停止（$26），并且后退一段距离（$27）

2.  Z轴会缓慢的上升直到它经过限位开关的时候（$24）

3.  Z轴会后退一小段距离（$27）

· X和Y轴

1.  XY轴会同时快速的向原点运动（$25）

2.  当其中一个轴触发限位开关的时候就立刻停止工作，并且等待第二个轴触发限位开关

3.  当两个轴触发限位开关的时候，两个轴会后退一段距离（$27）

4.  X和Y轴会慢慢的向开关的方向移动，直到连个轴都触发了开关（$24）

5.  X和Y轴会后退一小段距离（$27）

 

Homing speed

回归速度

As described above, homingis done in two distinct phases per axis: feed and seek. The feed speed iscontrolled by setting $25. In this phase, GRBL is just trying to find the limitswitch within a reasonable amount of time.

综上说述，每个轴的原点回归都有两个阶段：给进和寻找给进速度是由$25控制的，在这个阶段，Grbl被要求在规定的时间内找到限位开关

After the feed phase, theseek phase does exactly the same thing, but at a low speed, controlled bysetting $24. This phase is all about accurately finding the trigger point forthe limit switch.

在给进阶段之后，寻找阶段也是在做一样的工作，但是是以缓慢的速度进行的，这个值由$24控制的，这个阶段是目的是准确的找到限位开关

 

Homing travel

回归行程

GRBL will give up searchingfor a limit switch after 1.5x the max travel distance. The max travel distanceis controlled by $130, (for x), $131 (for y) and $132 (for z). These numbersare also used for soft-limits, and should be set slightly below the length ofyour axes.

GRBL如果在1.5倍的最大规定行程内都没有找到限位开关的话将会放弃，这个最大行程的值是由$130（X轴）、$131（Y轴）、$132（Z轴）控制的。这些数字也用于软限制，所以应设置略低于您的轴长度的数值。

After the feed phase, theaxis moves back a little, to un-trigger the switch. This distance is controlledby setting $27. Set this number high enough so the limit switch is cleared,even when the feed phase overshoots.

在给进阶段后，每个轴都会后退一点点，防止触发限位开关。这个距离是由$27控制的，应该设置足够大的值防止触发限位开关。

 

TODO (documentation)

代办事项（文档）

 

• How to configure for custom homing cycles.
• 如何设置自定义的回归运动
• Common issues.
• 常见问题
• What's the homing cycle for? How do you use it? Is it really that use? YES.
• 回归运动是什么？我要怎么使用它，这些都是对的吗？是的
  • Explain work coordinate systems(WCS) and G28/30 move to predefined locations
  • 解释一下工作坐标系统（WCS），就是G28/G30移动到指定的坐标位置
  • Explain how to save WCS and G28/30 coordinate frames using G10 and G28.1/30.1.
  • 解释一下如何保存WCS和使用G10和G28.1/G30.1保存G28/G30坐标系
  • Provide clear link to LinuxCNC g-code descriptions
  • 提供完整的linuxCNCg代码
  • Explain how WCS and G28/30 are used in common scenarios.
  • 解释WCS和G28 / 30使用到的常见的场景。
• Clarify homing direction "add 2 to '23'", if that means "$23=2" then just put "$23=2".
• 澄清一下原点方向“给23增加2”，这个的意思就是$23=2