Using internal servodrive homing function (DS402 drives)

Hi@all!

I am tying to merge changes to the homing.c file so that the homing is controlled by the internal routine of the drives.
This was already a thing in the ethercat thread on eg. p88 ( link )
But unfortunately Roschi´s changes (see his github diff ) didnt work.
This try I was using a 2.9pre version and the homing instantly stopped after clicking the homing butten with homing state 7.


So my next try was switching back to 2.8.1 and tried changes seen on sqmathlete´s post on page 99 ( #109195 )
After merging his changes I got the ferror message in axis


ini-settings: =>so my setup uses incremental encoders/no absolute ones
hal-settings:
So cause I am really dont know whats wrong here I hope there is someone who might have ideas. I think there are setups here which might work already like that (or at least this is interesting also for other users with drives which support homing internally).

Thanks
Conny

Hi,

for clearify:

-you want to use the internal homing function of the 402 drive. Modes of Operation = 6 ?
-Homing Modes, velocity etc. are configured in the drives sdos? (your ini settings in this case are not used)
-Home switch is conected to the servo drive?
-what do you do with your classicladder in this case?

Hallo Dominik

right, cl is used to set the mode of operation to 6 if the homing pin is true.
I missed that: at my fist attemp with 2.9pre this doesn´t happen if i click the homing button.
The homing is correctly set up in the drive. If I switch manually to "6" everything is fine. So yes the homing switch is connected directly to the drive.
These ini settings of search and latch are needed to use the shortcut in the homing.c file. (as you can see in the diff from Roschi)

Hallo ??

home_position/offset is setup in the drive.
after the drive has done homing, linuxcnc should take the drives actual position (like absolute encoder) or should set its internal counter to zero?

we have an patch for this, i have done this with nanotecs pd4e's before.

(muss ich rauskramen und dokumentieren, kommt dann die Tage...)

so this means, nothing more to do here because this is really already done??
Uuh, that would be awesome!
Nevertheless I think also this could really be a helpful feature to have this already implemented in the official release. At least it would be nice to have a wiki article or something similar.

So for the home offset in my case, this has to be left out, cause the offset position is already in the drive? Will correct that if this is right.

Thank you!
Conny

Hi,

have a look at this, it works without patching linuxcnc.

forum.linuxcnc.org/24-hal-components/418...can-bus-ethercat-etc