Set up the Homing Cycle

Prerequisites [先决条件]:

• Correctly configured axes.

  [正确配置的轴。]

Home switches pins and wiring [归为用开关针脚和接线]

3 digital input pins are used for signaling Grbl [数字输入引脚用于发送Grbl信号]:

• Pin 9 X Axis limit/Home input pin [引脚9X轴限制/主输入引脚]
• Pin 10 Y Axis limit/Home input pin [引脚10Y轴限制/主输入引脚]
• Pin 12 Z Axis limit/Home input pin [引脚12Z轴限制/主输入引脚]

Another place that explains the Limit switch configuration: Wiring-Limit-Switches

[另一个解释限位开关配置的地方：限位开关接线]

Limit switches usually have three terminals [限位开关通常有三个端子] :

• One is common terminal (COM), one is normally open (NO) to the common terminal and another one is normally closed (NC) to common.

  [一个是公共端子（COM），一个是公共端子的常开（NO），另一个是公共端子的常闭（NC）。]

In this case, we are going to use two terminals, normally open (NO) and common (COM).

[在本例中，我们将使用两个端子，常开（NO）和公共（COM）]

Use of (NC) instead of (NO) is enabled by configuring $5=1 .

[通过配置“$5=1”，可以使用（NC）代替（NO）。]

All the common lines go to the arduino's GND, the NO lines go to the pin for that axis. This will result in this wiring

[所有的公共线都指向arduino的GND，'NO'线指向该轴的引脚。这将导致这种接线]:

• *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

Enable Home Cycle and Setup Home Parameters [启用主循环并设置主参数]

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

[归位由参数“$22”控制。键入“$22=1”启用它，键入“$22=0”禁用它。键入“$H”可以触发归位。]

Homing direction [归航方向]

The homing directions are controlled by setting $23 setting it to a value defined below [通过将“$23”设置为下面定义的值来控制归位方向] :

Homing direction [归为方向]	Value [值]
X+ Y+ Z+	0
X- Y+ Z+	1
X+ Y- Z+	2
X- Y- Z+	3
X+ Y+ Z-	4
X- Y+ Z-	5
X+ Y- Z-	6
X- Y- Z-	7

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

  [-默认设置（$23=0），主位置在工作区的右上角，主轴一直向上。]

• $23=1 Top left home location.

  [-$23=1左上角主位置。]

• $23=2 Bottom right of your work area to be the home location.

  [-$23=2工作区右下角为家。]

• $23=3 Bottom left.

  [$23=3左下角。]

• $23=4 Spindle down home location.

  [$23=4 主轴向下的主位置。]

Homing Cycle Steps [归位循环步数]

By default, the homing cycle goes through the following steps [默认情况下，归位循环经过以下步骤]:

• Z axis [Z轴]

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

     [Z轴将快速($25)向上移动（正）]

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

     [当Z home开关触发时，Z停止一小段时间（$26），并后退一段距离（$27）]

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

     [Z轴将缓慢向上移动，直到再次接触Z home开关（$24）]

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

     [Z轴后退一小段距离（$27）]

• X and Y axis [X轴和Y轴]

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

     [X、 Y轴以较快的速度（$25)向回零方向移动]

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

     [第一个轴触发开关将停止并等待第二个轴触发]

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

     [当第二个轴触发开关时，两个轴后退一段距离（$27）]

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

     [X轴和Y轴将再次缓慢地向开关移动，直到两个开关再次触发（$24）]

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

     [X轴和Y轴都会后退一小段距离（$27)]

Homing speed [归位速度]

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

[如上所述，归位在每个轴的两个不同阶段完成：进给和寻道。进给速度由设置“$25”控制。在这个阶段，GRBL只是试图在合理的时间内找到限位开关。]

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

[在馈送阶段之后，寻道阶段执行完全相同的操作，但速度较低，由设置“$24”控制。该阶段的全部内容是准确找到限位开关的触发点。]

Homing travel [归位旅行]

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

[在1.5倍最大行程距离后，GRBL将放弃搜索限位开关。最大移动距离由“$130”（对于x）、“$131”（对于y）和“$132”（对于z）控制。这些数字也用于软限制，应设置为略低于轴的长度。]

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

[在进给阶段后，轴稍微向后移动，以取消触发开关。此距离由设置“$27”控制。将该数字设置得足够高，以便即使在馈电相位超调时，也能清除限位开关。]

TODO (documentation) [全部（文件）]

• How to configure for custom homing cycles.

  [如何配置自定义归位循环。]

• Common issues.

  [共同问题。]

• What's the homing cycle for? How do you use it? Is it really that useful? YES.

  [归位周期是什么？你如何使用它？真的那么有用吗？对]

  • Explain work coordinate systems(WCS) and G28/30 move to predefined locations

    [解释工作坐标系（WCS）和G28/30移动到预定义位置]

  • Explain how to save WCS and G28/30 coordinate frames using G10 and G28.1/30.1.

    [解释如何使用G10和G28.1/30.1保存WCS和G28/30坐标系。]

  • Explain how WCS and G28/30 are used in common scenarios (All above explained perfectly in this video https://www.youtube.com/watch?v=fGtbkVJBXyE )

    [解释WCS和G28/30如何在常见场景中使用（本视频完美地解释了以上所有内容）https://www.youtube.com/watch?v=fGtbkVJBXyE )]

  • Provide clear link to LinuxCNC g-code descriptions.

    [提供到LinuxCNC g代码说明的清晰链接。]