I finally had time to build out my setup for Maslow4 and play with it. I did my first actual router bit in the wood and had no problems with any of the issues that have caused work stoppages that others on the forum have written about. I will post a pic if I can figure out how to do that. While playing with it, I noted several items that need to be added, and some things that need fixes. I realize that these should be posted elsewhere, so I will address that later. Some of these items are noted from my experience with industrial robotic systems that I have programmed in the past.
1. There needs to be a button to command the Z axis to go to its currently defined home position.
2. There needs to be a button to command XY to its geometric home position. The button currently available takes Maslow to its currently defined home (which works as it should).
3. Soft limits are needed for X, Y, and Z. Soft limits for X and Y should be defined in terms of the geometric home and, therefore, translatable to the currently defined frame of reference defined by current home. Any non-setup command requesting positioning outside of the soft limits should be handled either as an envelope move or simply as a halt movement with error (which could be a yaml config item). The Z axis has a hard limit, but needs a soft limit slightly above it so as to not hammer the hardware. The upper soft limit should be set at roughly one revolution lower than the top thread.
4. Currently, if you release tension anywhere other than geometric home and then apply tension, while the first axis (TL) will inspool to the correct position, the others will outspool. If Maslow4 sits far from the geometric center, the outspooling axes make a mess and can get damaged. Maslow4 software should remember the coordinates where the release tension command was given so that when the apply tension command is given, it adjusts to that position.
5. It would be nice to have a setup time definable “Maintenance home” or “Tool Change home” position and a button to move to it there. This would depend on #4 above fixed because a tool change may require release of tension.
All in all, I am extremely pleased with the way Maslow4 works and the way it is continuing to develop. If I can upload a picture, you may notice that I machined and installed compressed air jets that inject air below the sled to allow smoother travel and to assist the vacuum system. Soon, per @ronlawrence3, I will add a ring of (grounded) copper tape outside of the radius of the air jets to further improve the vacuum removal of chips and lower the potential for static buildup.
