can't pass a home-mode negative number to ethercat drive with setp in HAL file

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29 Sep 2025 23:17 #335583 by ShemJ
I've got Leadshine EL8 servo drives talking over ethercat and am trying to get sensorless homing to work.

With the help of the forums, specifically this post , I've found a way to request a specific homing mode. In the EL8 drive documentation, all the torque based sensorless homing modes are a negative number.

setp lcec.0.0.home-mode -6

is what I'm after. Other modes such as mode 35 which homes in place, works just fine so everything appears to be in order. As far as I can tell, the positive number homing modes work fine, but not the negative ones. I can't tell if this is a drive problem or a linuxcnc problem.

Would there be any reason why I can't pass a negative number? Syntax maybe?
HAL file
#*******************
#  AXIS X
#*******************

setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 1677721.6
[b]setp lcec.0.0.home-mode 35[/b]
setp lcec.0.0.home-hi-speed 500000
setp lcec.0.0.home-lo-speed 500000
setp lcec.0.0.home-acc 100000

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30 Sep 2025 07:52 #335605 by Hakan
Does home-mode have halType="u32" in ethercat-conf.xml? Try changing to "s32".
The following user(s) said Thank You: ShemJ

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30 Sep 2025 09:19 #335612 by ShemJ
Ah, of course. That was it! Thanks for that.

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