Ethercat installation summary

ok,

is there a manual for your drives for download?

cia402 works as follows :

-home triggerd by lcnc
-cia sets op mode to home
-cia waits that drive has changed op mode to home
-cia sets the home bit
-if the drive clears the is_homing bit and has set the homed bit, cia tells lcnc that homing is finished and sets drive mode back to position.

with the drives i had for testing  (nanotec and stöber) it has worked.

Yes, its in a shared google drive folder here:
drive.google.com/drive/folders/1qOJOkts4...tsHrmLaM?usp=sharing

Homing is covered from Page 42.
It does not appear to change to opmode = 6 on a home all from axis.
To me the docs imply that we should wait for the change to opmode is confirmed in the status word but you component does not do that.

Enable Homing mode:
To enable the zero return mode, the value of object dictionary 6060h (operation mode) must beset to 0006h. The object dictionary 6061h (operation mode display) can be used to confirm whether the drive has entered the correct operation mode.

I was going to see if I could rewrite the homing so it followed a state machine switch statement to track the states.

Actually I am wrong. it does change to opmode=6 on a home all but the position changes and motors do not move so a following error happens. I'm still working on understanding this.

When home is set true by index-enable, should it stay true for all of the homing sequence? I would have thought it should be reset to 0 and then set true when homed. I just don't understand indexes enough.

the home pin from the cia component soult stay true , while the complete homing seqeunze.

but you are right, the comps does not wait for an acknowldege of op mode changing... but this has not been an error with my test drives.

you can try changing this :

// mode Home and start homing
if (home) {
opmode = OPMODE_HOMING;
controlword |= (home << 4);
}

to: // mode Home and start homing
if (home) {
opmode = OPMODE_HOMING;
if (opmode_homing) {
controlword |= (home << 4);
}
}

i have no acces to my linux pcs at the moment

I thought I better retreat to a thread I own.
Today I spent some time playing with stall homing with no success, just lots of  crashes that resulted in following errors and amplifier faults. Maybe I should have used a rubber buffer instead of a hard stop!

So then I installed some homing switches on my machine so I could have a play with the various CIA402  homing methods in my drives.
I did not have any luck with this at all. I am going to revert to Linuxcnc homing and get on with life. It will be accurate enough for me.

I think we really need a new flag in homing.c that bypasses all of the homing states until the drive is homed.
 

Hi,
I tried to install Ethercat in Run-in-place version of LinuxCNC but I am getting an error when I type command "sudo make install" to install the drivers.
all  the commands before "sudo make install" worked fine but it shows following error:

configure.mk:8: *** halcompile/comp executable not found or set.  Stop.
make: *** [Makefile:17: config.mk] Error 2

I search through many threads for solution but the closest I got is here , which to my understanding comp and halcompile does the same work.
But I don't know how to fix it.

Regards
Abhishek