special homing for special kinematics

[bschwand]

I am planning to use uCNC on a parallel kinematics machine with a unique geometry which requires 4 motors for XYZ motion. How do I create a special homing sequence for that machine ?

The homing has to be done in a particular sequence as homing each axis/motor separately would break the machine. So for example to home one motor, all motors have to move in one direction until a limit switch is hit, the switch that is hit will be one of two possible so that means the motor being homed first is actually not known until the switch is hit. Then the other 3 motors move together still in the same direction until the second switch is hit. Then, all 4 motors move in the other direction and the same operation happens: one limit switch is hit, all other 3 motors keep going until the other switch is hit.

Pointers to code or description of how it can be implemented in uCNC welcome...

Thanks

[bschwand]

answering my own question
uCNC/src/HAL/kinematics
it also defines the homing sequence.
more questions will come :-)

[Paciente8159]

Yes. You can define the homing sequence in the respective kinematics.
You can also move multiple axis at once. See the multiaxis option in cartesian or how delta kinematics do that as a reference.

[Paciente8159]

Pointers to code or description of how it can be implemented in uCNC welcome...

You can navigate through the wiki or the several README files spread along the project. The addon modules repository also has several example templates that should give a starting point.

I also reply to lots of stuff over at the Discord channel if you want to exchange ideas.