Bewildering... Could use general guidance on machine setup with BlackBox X32...

We are building a machine that consists of the following:

BlackBox X32

A gantry that moves along the y-axis, driven by a stepper on each end (timing belt, not lead screw). A carriage on the gantry driven by a stepper. The carriage contains a standard RC servo and a linear actuator that is driven by two GPIO pins that should always be in opposite states.

There will (ideally) be limit switches on both ends of both axes. Also: Our intention was to use the dual limit switches on the 'home' side of the Y axis to make sure the two Y axis steppers are in sync (so the gantry doesn't get racked by the two ends not being driven together. Basically when we home we want to see both limit switches hit.

Current thought is:

Drive X axis like any other normal x axis
Drive linear actuator with the double throw relay output
Drive servo with servo output

I'm confused on how to handle the Y axis, particularly with respect to homing the two steppers individually.

Does anyone have any advice on how to do this if it's even possible?

 

We are. We bought one from y'all. Our gantry is one of your stepper-based linear actuators. The linear actuator on the carriage is a tiny little thing about 5 inches long. None of your linear actuators would ever fit on the carriage.

In any case our main problem is how to zero/home both sides of the Y axis.

 

As an update to this - I've been out of town for three week and just got back to it.

My Y2 limit switches trigger an alarm when the gantry backs *away* from them. I know there is a way to invert limit switches but I can't figure out how to do it for just one axis (Y2 is wired into Z limit as @Peter Van Der Walt suggested above).

Ideas?

 

@Peter Van Der Walt, thanks.

Sorry to keep peppering you with questions but...

Is there a way to have the BlackBox completely disregard the Z axis for homing? Or in there alternative, is there a command to home an axis individually? For all relevant purposes my machine is a 2-axis machine. I DO have the Y2 limit switches wired into Z though, as you suggested.

When I try to "home all" I get a "Could not find limit switch within search distance..."

 

Figured it out!

 

Perfect. That worked. Now another issue... This is getting close though!

I thought it was supposed to close the limit switch, then back off and re-approach very very slowly until it closed again...? Instead I get this the instant the switch closes and everything stops.

ALARM: 6 - Homing fail. Reset during active homing cycle. [ $H ]

 

I set that to 10mm. It's not backing off the switch at all. The instant the switch closes it alarms and everything stops.

 

Peter, you were correct. One of us (almost certain my coworker) incorrectly wired one of the limit switches for the Y2. Inexplicable because both the switches and the BlackBox are clearly marked.

In any case, we’ve likely blown the Z Axis limit switch input.

For this project I can get away without it but assuming we wanted to try to fix it, could we replace the microcontroller in the BlackBox and burn new firmware into it?

Or is it another part that would be damaged?

We have full PCB rework capability in-house.

 

Hm. Now I'm testing with the troubleshooting tab and the Z Axis seems to work fine (same limit switch).

But still getting the problem while homing - it hits the limit switch and throws an alarm. If I disconnect the Y2 limit switch it homes just fine.

I do have the "Auto Squared" build burned onto the controller.

 

Yes.

So burn the standard firmware and leave that Y2 limit switch wired into Z?