Hal Setup for External Homing with Servo Drive Control
08 Mar 2022 10:52 #236656
by GuiHue
Hal Setup for External Homing with Servo Drive Control was created by GuiHue
Dear all,
I am currently thinking about a setup with a slightly different homing approach to make use of the servo driver's ability to home itself. While this appears to be non-sense for a regular axis, it is potentially desirable to make use of the specific driver's gantry synchronization features. The drives in question are Delta ASDA-A2.
What we are trying to do is the following:
-Have linuxCNC initiate homing through some DO, I guess "joint.N.homing" would be a suitable pin
-Have the drive do its thing
-Have the drive report out that homing was completed : Question: How do I get this signal to linuxCNC? How do I set up homing, up so that linuxCNC can cope with external homing?
-Have linuxCNC signal the drive that all axis are homed and that they may switch modes from PR to PT (PR: drive can home itself, but can only move to predefined positions, PT drive accepts typical motion signals via step/dir)
Any ideas?
I am currently thinking about a setup with a slightly different homing approach to make use of the servo driver's ability to home itself. While this appears to be non-sense for a regular axis, it is potentially desirable to make use of the specific driver's gantry synchronization features. The drives in question are Delta ASDA-A2.
What we are trying to do is the following:
-Have linuxCNC initiate homing through some DO, I guess "joint.N.homing" would be a suitable pin
-Have the drive do its thing
-Have the drive report out that homing was completed : Question: How do I get this signal to linuxCNC? How do I set up homing, up so that linuxCNC can cope with external homing?
-Have linuxCNC signal the drive that all axis are homed and that they may switch modes from PR to PT (PR: drive can home itself, but can only move to predefined positions, PT drive accepts typical motion signals via step/dir)
Any ideas?
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08 Mar 2022 14:26 #236675
by rodw
Replied by rodw on topic Hal Setup for External Homing with Servo Drive Control
IF the drives are CIA402 ethercat compatible, yes, you can use them. There is a CIA402 component and uses the home to index function.
Check the instructions document in my repo
github.com/rodw-au/linuxcnc-cia402
This needs some updating as I am close to completing my configuration.
Note people have ben bale to home to index with this method but I was unable to home to a home switch using the drives features.
Check the instructions document in my repo
github.com/rodw-au/linuxcnc-cia402
This needs some updating as I am close to completing my configuration.
Note people have ben bale to home to index with this method but I was unable to home to a home switch using the drives features.
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08 Mar 2022 14:58 #236679
by GuiHue
Replied by GuiHue on topic Hal Setup for External Homing with Servo Drive Control
Dear Rod,
thanks for getting back to me.
No, the drives do not speak EtherCAT.
The setup of the drives appears to be working (at least for a single axis for now). My questions really just relate to making this work with linuxCNC using conventional IO.
thanks for getting back to me.
No, the drives do not speak EtherCAT.
The setup of the drives appears to be working (at least for a single axis for now). My questions really just relate to making this work with linuxCNC using conventional IO.
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08 Mar 2022 20:33 #236707
by rodw
Replied by rodw on topic Hal Setup for External Homing with Servo Drive Control
From what I tried using a modified version of this component
github.com/dbraun1981/hal-cia402
I think you will need a similar component to ensure the position error that will occur when th eencoder is reporting without linuxcnc commanding the drive.
I think you also will need to modify homing.c
I reverted to linuxcnc homing which supports gantry homing simply by setting HOMING_SEQUENCE = -1 on the gantry joints in the ini file
github.com/dbraun1981/hal-cia402
I think you will need a similar component to ensure the position error that will occur when th eencoder is reporting without linuxcnc commanding the drive.
I think you also will need to modify homing.c
I reverted to linuxcnc homing which supports gantry homing simply by setting HOMING_SEQUENCE = -1 on the gantry joints in the ini file
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08 Mar 2022 21:46 #236713
by GuiHue
Replied by GuiHue on topic Hal Setup for External Homing with Servo Drive Control
I see what you are pointing at. Modifying homing.c certainly is out of my league. The pointer to using encoders (hadn't even mentioned those) is quite a valid one. Technically, the encoders could also be integrated with the drives directly.
I currently use the linuxcnc gantry setup and it works well. Delta ASDA-A2 has a special mode to ensure synchronous motion between two drives by master-slaving them. In this mode they operate of one step/dir interface and maintain their relative position. Furthermore, it would allow the use of a single linear encoder instead of two. I would like to work out if I can make use of this feature. Hence my questions:).
Side question (because I currently can't try): Is it possible to net the signals of one (linear) encoder to two step-gens?
@Mods: Maybe move to advanced config?
I currently use the linuxcnc gantry setup and it works well. Delta ASDA-A2 has a special mode to ensure synchronous motion between two drives by master-slaving them. In this mode they operate of one step/dir interface and maintain their relative position. Furthermore, it would allow the use of a single linear encoder instead of two. I would like to work out if I can make use of this feature. Hence my questions:).
Side question (because I currently can't try): Is it possible to net the signals of one (linear) encoder to two step-gens?
@Mods: Maybe move to advanced config?
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08 Mar 2022 22:08 - 09 Mar 2022 04:30 #236717
by medicusdkfz
Best regards,
Pierre
Replied by medicusdkfz on topic Hal Setup for External Homing with Servo Drive Control
Is it also possible with CanOpen Delta drives and Beckhoff EK1100/EL6751? I'm using the A2-M for a YY-spindle setup.IF the drives are CIA402 ethercat compatible, yes, you can use them. There is a CIA402 component and uses the home to index function.
Check the instructions document in my repo
github.com/rodw-au/linuxcnc-cia402
This needs some updating as I am close to completing my configuration.
Note people have ben bale to home to index with this method but I was unable to home to a home switch using the drives features.
Best regards,
Pierre
Last edit: 09 Mar 2022 04:30 by medicusdkfz.
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26 Feb 2023 14:24 #265417
by Virtanen
Replied by Virtanen on topic Hal Setup for External Homing with Servo Drive Control
Hello Rod. I was following step by step the instruction you gave, and after using halcompile to cia402 i got:
cnc@cnc:~/dev/ec-debianize/hal-cia402$ sudo halcompile --install cia402.comp
sudo: halcompile: command not found
I don't know where can be a mistake, because when i configured uspace, i got:
cnc@cnc:~$ cd dev/linuxcnc/debian/
cnc@cnc:~/dev/linuxcnc/debian$ ./configure uspace
uspace is accepted for compatibility, but ignored
successfully configured for 'uspace-Debian-10'..
I'd be very glad if you will help me to solve this problem
cnc@cnc:~/dev/ec-debianize/hal-cia402$ sudo halcompile --install cia402.comp
sudo: halcompile: command not found
I don't know where can be a mistake, because when i configured uspace, i got:
cnc@cnc:~$ cd dev/linuxcnc/debian/
cnc@cnc:~/dev/linuxcnc/debian$ ./configure uspace
uspace is accepted for compatibility, but ignored
successfully configured for 'uspace-Debian-10'..
I'd be very glad if you will help me to solve this problem
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26 Feb 2023 20:43 #265442
by rodw
Replied by rodw on topic Hal Setup for External Homing with Servo Drive Control
If you have built debs from source, there should also be a .deb file called linuxcnc-uspace-dev which needs installing.
should be in your ~/dev folder?
RIP builds will have it but don't need sudo
should be in your ~/dev folder?
RIP builds will have it but don't need sudo
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