Correct "home" configuration for absolute encoders

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kubes
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Senior Member

08 Jun 2025 04:17 - 12 Jun 2025 17:22 #329928 by kubes

Correct "home" configuration for absolute encoders was created by kubes

I have EtherCAT AC Servos with 23-bit multi-turn absolute encoders. I am trying to configure my "home" position. Is there a definitive documentation on using absolute encoders?

My absolute location is not where I want G53 "home" to be, in the case of the below and the provided INI sniplet, it's 7.3033 inches from the zero location I want. Reading the documentation, it states to set HOME_OFFSET, and I also see a forum posts to set HOME. I feel like I am just guessing. I have tried both, and neither works. Also, I should never have to "home" the axis, correct?

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2
MAX_LINEAR_VELOCITY = 2
SPINDLES = 1
NO_FORCE_HOMING = 1

[AXIS_X]
MAX_VELOCITY = 2
MAX_ACCELERATION = 4
MIN_LIMIT = -9.0000
MAX_LIMIT = 9.0000

[JOINT_0]
TYPE = LINEAR
HOME = 0
HOME_OFFSET = 7.3033
MIN_LIMIT = -9.0000
MAX_LIMIT = 9.0000
MAX_VELOCITY = 2
MAX_ACCELERATION = 4
HOME_ABSOLUTE_ENCODER = 2

Last edit: 12 Jun 2025 17:22 by kubes.

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