Just got the robot running. Running AR2 software. Able to jog all motors forward and back. Went to Auto Calibrate and this didn't look right. So decided to Calibrate each axis independently. J3, J5, J6 work correctly. J1,J2,J4 do not. They go forward then back a little, if I try to calibrate again it moves forward then back a little. Eventually I need to manually rest the position it moves forward more than back. Not sure what to check first?
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That sounds like the connection for the limit switch ground is possibly not made and floating voltage may be causing the arduino to see a positive signal. I would double check that each limit switch provides the arduino -5v when not made and + 5v when made. If you continue to have issues on this please email me a video of the calibration so I can see exactly how it is behaving. thank you. info@anninrobotics.com
Connected Mulitmeter and found the following:
NC switches 1,2,4 are open and should be closed
NO switches 1,2 will not close when toggled
6 switches, 12 outputs: 7 working, 5 are not.
Just tested all the mounted switches, all working correctly.
Removed wire harness and Project box, need to test all the connects on the bench.
Thank You for pointing me in the right direction. Need a couple days, and will report back.
Thank you for the update, please let me know what else you find.
Well it's been a while, decided to work on the wire harness today. Spent two hours replacing the fault connectors (broken wires at crimp connection) and reinstalled the wire harness. My level of confidence was that everything should work. So got the software up and running. I started with calibrating each axis individually 1,2,3,4,5,6 and all working properly. Then tried auto calibration and was successful. All is working, thank you for your help Chris.
I have a same problem with all of switches, but all wires is correct. Question is about -5V DC. Now I have 0V on my multimeter when switches is not made, and it's logically follows from electric schematic, where NC contacts connects to arduino GND. I suspect it is a root of the problem. I read the scheme wrong?
Oh, my understanding of therminology is wrong.
Anyway issue is relevant. All axis calibrate in same way.
I had the same issues and found out that I most probably had interference from the powercables onto the signalcables. The case was as follows: I have a CRS 460 robotic arm and I am rebuilding it. I started with 24 Volt DC powersupply to all the servos, one by one starting at joint 6. When I tried joint 3 everything was working accordingly until I applied 68 Volt DC to the servo on joint 3. This servo handles 68 Volts. After that I had the same issues as described in above. It took me a while to figure it out but at the end I connected my home switch to a relais of 24 Volts. The home switch then activates the relais itself and the relais on its turn made the signal high to the arduino.When the relais is not activated, the signal is low. After that, I had no problems at all with my homing switches. It is a workaround but for me it worked.
I solved my problem in this way:
Measurment of voltage on switches pins showed me 4V, and I decided to rise up this value with external 5V supply. But it still doesn't works. Signal LED was lit all time, because it's 13 pin, but 13 pin is J6dirPIN too... Once this pin wasn't initialized and I saw that LED partially lit. The reason was a voltage between GND of external 5V supply and GND of my laptop. I disconnected GND of external 5V and now endstops work.
So, when swithces are working, calibration will go smooth correct?
Yes, as long as the switch is wired correctly with -5v when not made and +5 when made it will work correctly.