EtherCAT servo homing
17 Jan 2024 14:44 - 18 Jan 2024 13:30 #290955
by TimP
Replied by TimP on topic EtherCAT servo homing
in cia402.comp there is this code responsible for home status
Edit: well never mind it should be 12
so as soon as `Target is reached` 10bit and `Operation limit active` 12bit (according to Rtelligent user manual) it will be homed
but in Rtelligent manual i have also found `Home find` bit15.
So is this bit15 just Rtelligent extra or it present in other drivers as well?
Now as soon as i set `index-enable` and start homing it triggers error for joint.
taskintf.cc 976: Error on join 3, command number 123
More interesting is how to turn off saving position-offset
//home states
if (opmode_homing) {
stat_homed = ((statusword >> 10) & 1) && ((statusword >> 12) & 1);
stat_homing = !stat_homed && !((statusword >> 10) & 1);
}Edit: well never mind it should be 12
so as soon as `Target is reached` 10bit and `Operation limit active` 12bit (according to Rtelligent user manual) it will be homed
but in Rtelligent manual i have also found `Home find` bit15.
So is this bit15 just Rtelligent extra or it present in other drivers as well?
Now as soon as i set `index-enable` and start homing it triggers error for joint.
taskintf.cc 976: Error on join 3, command number 123
More interesting is how to turn off saving position-offset
Last edit: 18 Jan 2024 13:30 by TimP.
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18 Jan 2024 14:06 #291030
by TimP
Replied by TimP on topic EtherCAT servo homing
answering my own question about motor-offset.
To not have it i just need to remove
POSITION_FILE = filename
from ini file, and now finally i don't have this offset added to true motor position each time when i reload linuxcnc.
i don't need it because i have absolute encoders
To not have it i just need to remove
POSITION_FILE = filename
from ini file, and now finally i don't have this offset added to true motor position each time when i reload linuxcnc.
i don't need it because i have absolute encoders
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