HAL CiA402 Drive Interface for Can Bus,Ethercat etc...

Thanks, if I zero the search velocity, I get no movement. Am I missing a connection?  (only look at  drive 0, the rest home immediate on a later sequence)
The latch velocity is in sync with the drive homing velocity (by my best maths anyway as the drive is in pulses). There are two velocities in the drive though so I use the fast one.

So joint.0.index-enable is not enabling but joint.0.homing goes true
So what have I missed to activate the index-enable?
I checked in halscope just in case there was ajust a pulse her but there was nothing.
Homestate goes to 7. There are no docs for what that means.

OK I set
HOME_SEARCH_VEL            = 0
The index-enable then goes true and the DRO counts.
But the drive does not move
In the drive:
opmode changes to 6 and opmode homing goes true
Target position counts up but actual position does not change

So its like there is additional configuration required in the drive. But what?

Actually, I think I had a version of the component with your suggested changes earlier in this thread when it was counting. I re-cloned your component and now on homing it does not move at all and returns a following error

I spent a few hours working on this and made some changes to the component. Now my drives will with some caveats.
The changes I made was to ensure that system commands were made in a logical order and the homing command was only issued once. See below:



The issues I have seen have been discussed earlier on this thread.
the drives will home and rehome using the home all button but.
Movement is restricted to about 3/4 of a turn before a following error is raised. Hitting a homing switch attached to the drive in that distance will let it home  correctly otherwise a following error is raised.
I don't understand why this happens as we are keeping pos-fb in sync with pos-cmd

These drives have provision to connect  sensors for home, min limit and max limit which seems to be part of the cia402 standard.

Having read the earlier comments, I think we need to modify homing.c and create a new ini file homing flag for drives like this that bypasses checks for home and limit switches and other linuxcnc stuff. Eg homing should jump from
case HOME_INDEX_ONLY_START: (start homing)
to
case HOME_INDEX_SEARCH_WAIT: (until end homing ends)

After all, if you are going to use the dives homing, surely you will also use the drives lint switches too.

So any ideas about this would be appreciated.
 

Hi Rod, I have been working on homing for ethercat amps for literally several years. I started in the original ethercat HAL forum but stopped paying attention once the thread got high jacked. About six months ago I managed to get my machine running by several edits to the source code. It requires a couple of custom M-codes to switch the amplifiers mode from CSP  to Homing mode and back. As well as a bit of ladder logic to toggle the enable pin in order to switch modes. However, it allows any of the thirty or so homing routines to be used. Also I managed to hack a delta C2000 VFD with ethercat card to work as well. Admittedly the homing solution is slightly incomplete at the moment because I don't understand anything about bit masks and once I got the lathe running I need to start making some parts.  I am currently trying to install Debian 11 with ethercat ... without much luck in order to complete this.Also, I have been following in the developers forum and see that you have been pushing for adoption ethercat. I have no idea how to push my changes and have ethercat homing supported when this happens. I have attached my src file from linuxcnc-dev 2.9  Use visual studio code or similar to search for HOME_AUTO to see where I made the changes. 

Kind regards,
Dan