StepperOnline A6 Servo

Hi,
Please excuse me for asking more questions.

The following parameters for homing are specified in Collin Bardini's .ini file.

HOME_SEARCH_VEL            = 15.625
HOME_LATCH_VEL            = 15.625
HOME_IGNORE_LIMITS        = YES

CIA402_HOMING_ENABLED = 1
CIA402_HOMING_METHOD=-2
CIA402_HOMING_SEARCH_VELOCITY=20000
CIA402_HOMING_LATCH_VELOCITY=7000
CIA402_HOMING_ACCELERATION=131072

Which of the two parameters determines the homing speed and acceleration? 
If the parameters are valid for CIA402, what units are they?

EDIT:
I figured it out. It's the lower values.
However, I still don't know what the units are.

Now I have an additional problem, though.
After completing the homing movement, the axes jump 1-2 mm and go into fault mode. The error can be acknowledged and the axis is referenced.
In the ini file, I have set HOME_OFFSET = 0.0 for the axes.
Where is my mistake?



Thank you in advance.
 

Hello,

I have now checked my entire configuration again.
I have also tried different homing methods.
Unfortunately, the error persists.
After homing is complete, the axes jump back and the servo shows Er87.1.
The axis is then referenced.
The error occurs on all axes.

Does anyone have any advice?

I don't use cia402 homing so someone else has to come with advice on that.
If you just want something that works you can use standard linuxcnc homing.
linuxcnc.org/docs/html/config/ini-homing.html

You can always revisit cia402 homing later on.
 

Er87.1 is "One-time excessive position reference increment". It sounds like your drives are trying to move from $home to the last commanded target position in one CSP period.

Try commanding the drive to find home using its CIA402 home method, and immediately (before the homing sequence finishes) set the target position to 0.

How can I adjust this?
I searched for this because it seems that other users had the same problem.
It was recommended to set the value HOME_ABSOLUTE_ENCODER = 2 and omit HOME_SEARCH_VEL; HOME_LATCH_VEL.
So I set the following.
HOME = 0.0                            
FERROR = 1000                        
MIN_FERROR = 1000            
MAX_VELOCITY = 100            
MAX_ACCELERATION = 750               
MIN_LIMIT = -1800                    
MAX_LIMIT = 100                        
HOME_OFFSET = 0.0
# Sequence for homing Start at 0                     
HOME_SEQUENCE = 0                     
HOME_SEARCH_VEL            = 1     
HOME_LATCH_VEL            = 1     
HOME_IGNORE_LIMITS        = YES
HOME_ABSOLUTE_ENCODER = 2
CIA402_HOMING_ENABLED = 1
CIA402_HOMING_METHOD=4
CIA402_HOMING_SEARCH_VELOCITY=100000
CIA402_HOMING_LATCH_VELOCITY=50000
CIA402_HOMING_ACCELERATION=131072

This now works for at least one axis, but all the others still malfunction.

 

Eureka!
I think I've found the cause.
While I was testing various settings in the ini file, the errors occurred sometimes on one axis and sometimes on another.  Even with unchanged settings, the error was sometimes there and then gone again. Until I turned off my handwheel (WHB04B). 
With the handwheel turned off, there are no problems with referencing. 
For some reason, the handwheel seems to interfere with the reference run.