absolute multiturn encoders (solved)

not see these ... dimitri from mecatron...(sorry not remember the name of brand). canopen card for lcnc? I try to write at these brand without reply ....

But now I have set the servodrives in absolute multiturn encoder mode (the encoders have the battery) and Lcnc continues to zero in place

Maybe I misunderstand this but since Lcnc zeroes your axis and your axis limits put zero outside of the "legal" interval I would expect an error for limit violations.

.... however there will be laughs ....

Well, I hope you will be able take it with a laugh! I actually had quite a few _curses_ today when working on my robot configuration.:pinch:

I have learned to face everything with patience, and when I notice my mistakes or my ignorance I have a good laugh and think "how stupid I am" .... serious as it may be, there is nothing world that is worth being taken so seriously ... not even death, so much that comes sooner and later ... this does not mean that it is not worth putting 200% of your commitment into the things that matter , commitment is used to succeed in business .... while stress, fear and a sense of inferiority are practically useless.

Any how my intention is modify a cobot .... so i think i will laugh a lot at myself. In any case, thanks.

However no misunderstanding ... the error you saw I had seen it too .... theoretically the true errors concern the zero position and the speeds (obviously you have to be in the valid workspace for soft limits). As soon as I can try I will post the correct solution for me.

Good saint stephen.

bkt

Strange ..... in use these settings:

yes I need to make a homing at start but all sounds good.

But if use these one:

the new position at start-up becomes the current real one added to that of the last shutdown ... and this happens both if I use the INI file position.txt and if I leave the parameter empty and therefore Lcnc doesn't use it.

Why?

I didn't use , because dimitri's patch is not present in my installation.

regards
bkt

The only difference I could find between to two modes is that mode 2 does a move to the home position. Have you set any HOME_OFFSET values in the INI?

All problem seems to related some HOMING parameter and a bad encoder scale settings. Here the right HOMING INI config:

And here the first wrong one:

HOME_ABSOLUTE_ENCODER = 2
HOME = 0.0
HOME_DELAY = 0
HOME_VEL = 0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0

So with the right one, HOME_ABSOLUTE_ENCODER = 2 work like a charm. The only remaining problem is the obligation to use the home all button as soon as the GUI is started. But automating this doesn't seem like a problem. It is enought to create an RTAI component that verifies the real position of the axes. If inside the soft-limits and in the possible safety area, a bool output connected to halui.joint.n.home can be activated .... in this way it will not be necessary to press any button. Obviously you need a pin for unhome. I have not found the dimitri patch .... but making a component where to insert the minimum and maximum values of each joint read from the .hal file and which makes the control regarding where the encoders find us out there does not seem to me bad idea ..... and probably dimitri did more or less like this, probably in a more elegant way.

regards
bkt