CiA 402 Folder Missing

I still use only one servo drive, set the position scaling, the maximum velocity of the system and I am experimenting with the homing.
Now I follow you guide about absolute encoders. I uncommented the rows for homing in the .ini and .hal files and added the missing PDOs for homing the .xml file.
By the way in your .ini file you have a homing settings that are not commented and below them you have commented home settings that are said to be only for homing. But if I uncomment them there will be duplicated home settings. Therefore I commented the first batch with home settings and ran LinuxCNC but the missing pins error appeared.

It clearly states under point 6 that after switching to the battery encoder cable, a reference run must be performed again. After that, you can comment out the lines.
The internal CIA402homecomp should be used for this one-time reference run.

What do your configurations look like?

In the weekend I had some more time to experiment but there is no success yet. I read the link about absolute homing for A6 servo again and checked all of the example files. Before I missed to copy this lineNow, LinuxCNC reports missing pins again but there is a new pin that cannot be found - "lcec.0.0.status-word". This is the first line where error appears and LinuxCNC is terminated. The pins "joint.0.request-cia-homing" and "joint.0.start-cia-homing" are reported not found as well.
I am still confused about the guide for A6 servos, which parts need to be uncommented on the first reference run? By the way, my servo drives does not have a settings for choosing incremental or absolute encoders.
Attached are the configuration files.

Konstatin, 
I don't understand why you don't stick with one configuration and keep trying different ones.
You already had working configurations, but you replaced them with new experiments.
I get the impression that you haven't read the important threads!

Your EtherCAT XML is full of errors again.
You have to give each drive a name so it can be assigned   name="X"

What are you trying to achieve with the following lines???
<sdoConfig idx="6098" subIdx="00">
<sdoDataRaw data="22 00"/>
</sdoConfig>
6098 refers to the homing method and is defined in the .ini file
CIA402_HOMING_ENABLED = 1
CIA402_HOMING_METHOD=4
CIA402_HOMING_SEARCH_VELOCITY=300000
CIA402_HOMING_LATCH_VELOCITY=100000
CIA402_HOMING_ACCELERATION=131072


A certain naming convention has been established here in the forum
With such naming conventions, you’ll confuse your fellow forum members and no one will be able to help you anymore.
halPin=“opmode” halType="s32"/>

You have to remember that the names you define in the XML must also be used in the .hal file.

I can only recommend one thing:
Delete all that junk!!!
Use the templates from the A6, and enter your VID and PID correctly.
Stick with this template and post any error messages!
 

andrax wrote:

Your EtherCAT XML is full of errors again.
You have to give each drive a name so it can be assigned   name="X"

 

Using name="x" is optional in the XML format and without it, it defaults to the slave number (which is great if your drives are the first slaves on the bus as it aligns with joint numbers). but names does free up the order of slaves. If following a template format, deviating from the supplied XML  can require a lot of editing as you are discovering....

@andrax
I appreciate your help and efforts on the topic. Actually, this was my working configuration, I just added the additional rows in .ini and .hal files as per you absolute encoder guide topic.

The "sdoConfig" line for 0x6098 is there to set the homing method of the drive. I added it before looking at your guide. It simply sets homing mode 34 - index pulse.

What do you mean by the wrong naming convention? You stated the halpin "opmode". Did I write it wrong or is the data type of signed 32 wrong? As per servo manual, it is an 8 bit variable but LinuxCNC expects it as signed 32.

I did not use the "name" attribute for the EtherCAT slave in the .xml, instead I use the slave ID number in the .hal file.

Would elaborate more on what is wrong the .xml file? I can get the .ini and .hal files from you absolute encoder tutorial but there is no .xml file there. That is why I ask about my errors in the .xml file.

@andrax
I created a new configuration using your templates for .ini and .hal files from the A6 Absolute Homing topic. The .xml file is mine and I deleted all of the SDO configurations. The axis is named "X" as you suggested. Attached are the configuration files.
The names of the pins are according to your .hal file, nothing is changed there. I had to make some changed in my .xml file to match.
Now, I opened and closed LinuxCNC a few time and the coordinate of the axis seems to save after each time the machine is closed. When I press "Home All" button the axis is immediately set homed and coordinates does not change.
Let's start with the custom CiA402 homing step by step. I attached two pictures one from .ini and the other from .hal file. What I described as "default" is the default configuration settings as if homing was executed. My question is, when I uncomment the "CiA402 homing" rows in both file, should the "default" rows be commented?

What position is displayed when you turn the servo off and on again? 0 or the last current position?

When using the attached configurations from my previous post, the last current position is displayed.

Looks good.

Can you move the axis while jogging?