Homing and Limits Description and Operation - synthetos/TinyG GitHub Wiki
This page describes the function of machine limits, homing cycles and related Gcode for version 0.95 and later versions. If you are new to this it's best to read these in the order listed:
The following are also useful references:
See also: TinyG Homing for Version 0.94 and Earlier
The term "homing" in this context means setting the absolute machine coordinates to a known zero location, or zeroing the machine. The absolute machine coordinate system (aka "absolute coordinate system", "machine coordinate system", or "G53 coordinate system") is the reference coordinate system for the machine. Work coordinate systems G54, G55, G56, G57, G58, G59 can be defined on top of G53 as offsets to the machine coordinates, and G92 can be used to put offsets on the offsets. Yes. It gets confusing. The coordinate systems page may help.
Homing is typically performed by running a "homing cycle" that locates the Z maximum, X minimum, and Y minimum limits - in that order. Z is done first so that X and Y moves will clear any obstacles that might be on the work surface. Other machine configurations may be set up for different min and max, may or may not include all axes, or may set an axis to an arbitrary coordinate location (see G28.3).
In TinyG homing is performed by running a G28.2 X0 Y0 Z0 command (The 0's are not used, but the X Y and Z words must have some arbitrary value).
TinyG homing uses these "non standard" Gcode functions:
| Gcode | Parameters | Command | Description |
|---|---|---|---|
| G28.2 | axes | Homing Sequence | Homes all axes present in command. At least one axis letter must be present. The value (number) must be provided but is ignored. |
| G28.3 | axes | Set Position | Set machine origins for axes specified. In this case the values are meaningful. This command is useful for zeroing in cases where axes cannot otherwise be homed (e.g. no switches, infinite axis, etc.) (See also G92 Offsets) |
Some limitations / constraints in TinyG homing as currently implemented:
- The homing sequence is fixed and always starts with the Z axis (if requested). The sequence runs ZXYA (but skipping all axes that are not specified in the G28.2 command)
- Supports a single home position. I.e. it does not support multiple-homes such as used by dual pallet machines and other complex machining centers
Note: In high-end CNC machines there is often no user-accessible homing cycle as machine zero is set at the factory and does not need to be set by the end user. See Peter Smid's CNC Programming Handbook, version 2 for details.
TinyG v8 has 8 switch inputs pins available on terminal blocks J7 and J8, along with two ground and two 3.3v terminals co-located on these terminal blocks. These are clearly labeled on the circuit board. (See here for v7 switch pinouts)
| Signal | Notes |
|---|---|
| Gnd | There is one ground for each terminal block |
| 3.3v | There is one 3.3v take-off for each terminal block |
| Xmin | The Xmin switch is typically positioned at left-most travel of the machine |
| Xmax | ...typically at right-most travel |
| Ymin | ...typically at front of machine |
| Ymax | ...typically at rear of machine |
| Zmin | ...typically at minimum height of Z travel (work bed), or omitted |
| Zmax | ...typically at maximum height of Z travel |
| Amin | Most of the time A is infinite and not homed. This position can be used for a machine kill |
| Amax | Ditto |
The inputs are 3.3v logic inputs and must not have 5v applied to them or you will burn out the inputs. The inputs are de-glitch filtered with a resistor-capacitor circuit (RC circuit), and pulled up to 3.3v on the board via 2.7K ohm resistors (strong pullup).
Two 3.3v outputs are made available for opto-coupled and other powered switch options. if using active switches you will need to be careful not to exceed 3.3v on the inputs or you may damage the inputs. If you draw the 3.3v do not pull more than 30 ma.
To connect a switch to an input pin simply wire the switch across the ground and the input. This applies to both normally open (NO) and normally closed (NC) switches. Either NO or NC switches may be used, but all switches must be of the same type. We recommend using NC switches for better noise immunity to prevent false firings.
Wire a single switch to each axis that will be part of homing. Homing requires each switch to be independent - i.e. you cannot run switches for multiple axes to a single switch input. The following configuration is typical for most milling machines and 3D printers:
| Pin | Function | Position on machine |
|---|---|---|
| Xmin | X homing switch | on the left of the machine |
| Ymin | Y homing switch | at the front of the machine |
| Zmax | Z homing switch | at the top of the Z axis travel |
Having wired the homing inputs, any other inputs may be wired as axis limit switches (kill) or left unused. If you wire limits you should connect the switch to its proper axis, and not connect multiple switches to an input. use the same switch sense (NC or NO) that you used for the homing switches. Adding limit switches would add these three switches to the example above:
| Pin | Function | Position on machine |
|---|---|---|
| Xmax | X limit switch | on the right of the machine |
| Ymax | Y limit switch | at the back of the machine |
| Zmin | Z limit switch | at the bottom of the Z axis travel |
The A inputs (if otherwise unused) can also be used as a limit.
When a limit switch is tripped the board is reset and will not exit until either a manual reset is pushed or a hard reset is sent via the serial interface. A hard reset is the Control x character.
It is mandatory that the switch configuration settings match the physical switch configuration otherwise homing simply won't work. In the case of NC switches the entire machine may be rendered inoperative if these settings are not in alignment.
The following switch settings are supported:
- 0=Disabled - Switch closures will have no effect. All unused switch pins must be set to Disabled.
- 1=Homing-only - Switch is active during homing but has no effect otherwise
- 2=Limits-only - Switch is not active in homing but will act as a kill switch during normal operation.
- 3=Homing-and-limits - Switch is active during homing and acts as kill switch during normal operation.
The following settings are used for switch configuration.
| Setting | Description | Setting Example |
|---|---|---|
| $ST | Switch Type | sets the type of switch used by the entire machine - 0=NO, 1=NC. |
| $XSN | X Minimum Switch Mode | 3=limit-and-homing (See Modes, below) |
| $XSX | X Maximum Switch Mode | 2=limit-only |
| $YSN | Y Minimum Switch Mode | 3=limit-and-homing |
| $YSX | Y Maximum Switch Mode | 2=limit-only |
| $ZSN | Z Minimum Switch Mode | 0=disabled |
| $ZSX | Z Maximum Switch Mode | 3=limit-and-homing |
| $ASN | A Minimum Switch Mode | 0=disabled |
| $ASX | A Maximum Switch Mode | 0=disabled |
IMPORTANT
-
It is important to configure all switch pins (all 8) even if you are not using them. Configure all unused switches as Disabled. Otherwise NC configurations will not work.
-
An axis should only be configured for one homing switch - it should not have two. The homing switch position (min or max) may be configured as homing-only or homing-and-limit. If there is a second switch on the opposite end it should be either disabled or configured as limit-only. If the switches are misconfigured homing will not run and you should see a status code indicating that switches re mis-configured.
The following per-axis settings are used by homing. Substitute any of XYZA for the 'x' in the table. The use of the settings is described in G28.2, below.
| Setting | Description | Notes |
|---|---|---|
| $xTN | Travel Minimum | Set the minimum travel for this axis (see Note) |
| $xTM | Travel Maximum | Set the maximum travel for this axis (see Note) |
| $xJH | Homing Jerk | Set this to stop quickly on switches. May need to be larger than the $xJM |
| $xSV | Homing Search Velocity | Velocity for initially finding the homing switch. Set a moderate pace, e.g. 1/4 to 1/2 your max velocity |
| $xLV | Homing Latch Velocity | Velocity for latching phase. Set this very low for best positional accuracy, e.g. 10 mm/min |
| $xLB | Homing Latch Backoff | Distance to back off switch during latch and for clears. Must be large enough to totally clear the switch or you will see frustrating errors. |
| $xZB | Homing Zero Backoff | Distance to back off switch before setting machine coordinate system zero. Usually no more than a few millimeters |
Note: Min and max travel are used for two functions (1) setting soft limit boundaries, and (2) they are added together to determine the total travel that an axis can move in a homing operation. Typically min is set to zero and max is something (e.g. 280mm). For soft limits it can be useful to set set Z max = 0 and Zmin = -something. If these values are misconfigured the search could stop before it reaches the intended switch, and the homing operation is canceled.
G28.2 is used to home to physical home switches. G28.2 will find the home switch for an axis then set machine zero (absolute coordinate system zero) for that axis at an offset from the switch location. Format is:
G28.2 X0 Y0 Z0 A0 B0 C0
Axes not present are ignored and their zero values are not changed.
For example. G28.2 X0 Y0 will home the X and Y axes only, in that order. The values provided for X and Y don't matter, but something must be present.
- G28.2 homes all axes present in the command
- The homing sequence progresses through each axis provided in the G28.2 block in turn - i.e. it does not home on multiple axes simultaneously.
- Axes are always executed in order of ZXYABC. The order the axis words occur in the G28.2 block has no effect.
- Homing begins by checking the pre-conditions for homing
- One and only one switch must be configured as the axis' homing switch
- $xSV search velocity must be non-zero
- $xLV latch velocity must be non-zero
- $xLB latch backoff must be a positive number or zero
- $xTN and $xTM - travel min and max must add to a non-zero total travel
- Failure of any of these conditions will cancel the homing operation and return status code 240 and a message indicating the offending axis
- The following is performed for each specified axis:
- Homing begins by testing for pre-existing switch closure for the current axis. If a switch is tripped the axis will back off the switch by the Latch Backoff ($xLB) distance.
- Once the switches are cleared a search move is executed. The search will travel at the Search Velocity ($xSV) for total travel distance ($xTN + $xTM) towards the homing switch. The search runs until the homing switch is hit or the maximum travel is performed.
- If maximum travel is reached without hitting the homing switch the homing operation is canceled (check your $xTN and $xTM settings)
- Once the switch is hit a Latch Backoff move is performed. This backs off the switch until the switch opens again. This is the repeatable zero location.
- If the switch does not open the latch backoff distance may be reached. This should not happen - check your latch backoff setting if the switch does not open.
- Once the latch backoff is complete the axis moves further off the switch by the Zero Backoff amount and sets zero for that axis. The axis is marked as HOMED in the homing state variable ($homx, where 'x' is any axis).
- Once all axes are processed the affected axes will be at the absolute home location (machine zero).
- At this point the global homing state ($home) will indicate that the machine has been homed. Homing state can be read for global, and for each axis ($homx, $homy...), or all together using the homing group: $hom. This returns 0 or 1 for each axis to indicate homing state for each axis and the global homing state.
See also:
G28.3 allows you to set a zero (or other value) for any axes. Some axes cannot be homed. They either don't have switches, are infinite axes like rollers on the Othercutter, or some other reason. Do the following to set a zero - for example:
g28.3 y0
G28.3 also supports setting to non-zero values, if that's useful. G28.3 affects the $hom group - any axis set by g28.3 is considered set for $hom
TinyG v7 has 8 switch pin pairs and a 3.3v pair take-off located on the J13 jumper next to the reset button. The switch pairs are labeled:
| Pair | Notes |
|---|---|
| 3.3v | This pair is located on the J13 connector closest to the corner of the board |
| Xmin | Corresponding switch is typically positioned at left-most travel of the machine |
| Xmax | Switch typically at right-most travel |
| Ymin | Switch typically at front of machine |
| Ymax | Switch typically at rear of machine |
| Zmin | Switch typically at minimum height of Z travel or omitted |
| Zmax | Switch typically at maximum height of Z travel |
| Amin | Most of the time A is infinite and not homed. This position can be used for a machine kill |
| Amax | Ditto |
For each switch pair the pin closest to the board edge is the ground, the pin next to it is the switch input as labeled on the silkscreen. The inputs are 3.3v logic inputs and must not have 5v applied to them or you will burn out the inputs. The inputs are tied high - with strong pullups for v7 boards and on-chip weak pullups for earlier boards.