Ok, I'll do some reading before continuing.
As an update, it looks like I'm pretty close.
The only changes I applied so fare are to the cia402 component:
- I wait for the ECT60 to confirm homing
Code:
if (home) {
opmode = OPMODE_HOMING;
if (opmode_homing) {
controlword |= (home << 4);
}
}
- I lie with the current position to linuxcnc during homing
[code]//home states
if (opmode_homing) {
// hack
pos_fb = pos_cmd;
stat_homed = ((statusword >> 10) & 1) && ((statusword >> 12) & 1);
stat_homing = !stat_homed && !((statusword >> 10) & 1);
}
Current tested behavior is:
- I press "home all"
- joint sets cia402 home (joint.0.index-enable => cia402.0.home)
- the drive follows the homing sequence and finds the edge of the home sensor
- the drive exits the homing mode
- at that point, the next "write all" sends again the current pos_cmd and the drive moves back to the position before the homing started
I'll study homing.c - I was hoping to find a solution that didn't involve rebuilding linuxcnc (I'm running off of the 2.8.1 raspberry pi image right now).
[/code]
So I picked up where you left off here. I decided to ignore the following error issue and just set the following error limits to a large value and focus on the jumping after homing.
I removed the "
Code:
[code]pos_fb = pos_cmd;" and still noticed jumping. After looking at some Halscope traces it became apparent that the drive was being put back into cyclic position mode before the position register was cleared from homing. I made a small change in order of a few lines of code forcing the homing procedure in the drive to finish before setting the drive back to position mode.
[/code]
Code:
// OP Mode
// set to position mode
if (stat_voltage_enabled && !home ) {
opmode = OPMODE_CYCLIC_POSITION;
}
// set velo mode
if (stat_voltage_enabled && !pos_mode && !home) {
opmode = OPMODE_CYCLIC_VELOCITY;
}
// reset home command
if (home && (stat_homed && !stat_homed_old) && opmode_homing) {
home = 0;
}
This works well, and the motor no longer jumps. I then decided to make a hacky solution for the following error. I added a couple of input pins to the CIA402 component to store the standard following error parameters from the INI file, and a couple of output pins to set the current following error. The component keeps the output pins equal to the input pins except during homing. During homing the output following error pins are set to a high value, 1e38.
Then you just connect up the following error output pins to the following error pins and result is Linuxcnc ignoring following error during homing, but not at other times without modifying the Linuxcnc code.
you can see the example config attached. I changed the CIA402 component name to CIA402JAG just to I could do side by side comparison of the two components on my system.
What do you think? To hacky?
