Using internal servodrive homing function (DS402 drives)

Hi Dominik,

yesterday I got time to make the changes to my test config and installed your component.
This is very amazing and helped a lot. No mess with the state machine and mode of operation anymore! Thank you so much!
Now the bad thing. It seems that linuxcnc does put out target position when homing is true.
So for my first test I got the ferror message in axis too.
Then after raising my ferror ini values this problem was solved.
The thing is now my servo drive does put out the error message because of following error
For testing purposes I set up the homing velocity in my ini file to the same value as in the drive. Bingo! First time axis homed sucessful How cool is that?!

So now I am asking if there is a chance to interrupt the output of a target position when the drive is in mode 6? Would that be possible?

Big thanks
Conny

Hi,

i have done this so in the first tests, and then kicked it out again because it doesn't makes an difference...
At rethinking this know, my test device has been an integrated motor/drive combination and i did only home on index in testruns... My scaling was 1 Motor round = 1mm, so my ferror has never big raised.... upps.

The drive does not react to the target position in homing mode. The ferror is caused because the actual feedback from the drive does not fit linuxcnc's position.

Your solution with setting linuxcncs home velocity equals to the drive is an good one, because we got a second monitoring if something is unnormal/broken.

Although i will change that, and put the feedback simulation back in. But i will make this configurable for the user.
f-error-home-monitoring true /false ..

The other solution would be to patch linuxcncs homing and add a new mode like absolute encoder or so, but this will be a new "struckle stone" for unexperinted users....

It will need a few days, my linux pc is far away from me....

Hi again,

The thing is now my servo drive does put out the error message because of following error

.

Is this during homing or at the end of homing. I think op mode change back to cs(x) may has to be on cycle later, because lcnc needs on cycle after clearing index-enable to set it's output to the home position.

nah, drive is in mode 6/does the homing movement as the error in the drive occurs.
So homing was aborted and mode switch back to 8 didnt have to happen because of the error state in the drive. (so axis tells drive fault..)
This behavior was gone with the adapted ini velo to the settings in the drive.

ok, but at which point in servo drives homing procees occours the internal f-error?
at the move to search the ref-switch, or when it has reached the switch ?

This happend at the search move if the ini velo was at (i think 0,2 or something really divergernt)