Delta B3 index homing

Hello,
I am trying to accomplish index homing on Delta B3 EtherCAT drives. Index signal is not available within SDOs, so I think the only way is to use servo internal homing procedure. I know there is a component for cia402 external homing by rodw. I am gathering info, so any input is appreciated!
i am using linuxcnc-ethercat deasda:

github.com/linuxcnc-ethercat/linuxcnc-ethercat

thanks

 

hi,

no all cia402 has same homing subroutine call and you will probably have to customize for your driver yourself... I have done it in dominiks component cia402.comp but for my driver it was little bit different and therefore I recall it as ds402.comp because of Kollmorgen standard ... but for inspiration should be goot for you... you can customize your driver which will be workable for your stuff for 100% 

for index homing you have to define them in the SDO startup config probably

regards

 

Thank you for your reply.

This is the latest version of you ds402.comp file?

forum.linuxcnc.org/ethercat/47358-kollmo...over-ethercat#279190

Yes it is... at the end is homing subroutine ... have a look carrefully how it works in the whole scale

I am using it in the CSP for less then two years and it is rock solid... but not run CSP over them because it is incremental(60C1) and not SI(607A) units because of Kollmorgen stuff... 

but I defenetly recomend you to do all config and startup SDOs via the TwinCAT3(I can help u)... Try it over that because it is easy and it will generate you a configuration itself... with SDO config too

I will have to create a python script which will did it automaticly but time lack is present..

or reply me over my last mails

regarrds