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?
Code:
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
