EtherCAT Servo Drive Homing

Hello,

I created a topic about a LinuxCNC EtherCAT configuration from scratch -  CiA 402 Folder Missing . I did receive support there but the topic got a bit large in pages and posts. By the way, thanks to @andrax, he was quite active in helping me to get the EtherCAT working.

The reason for this new topic is to help everyone create a working and robust EtherCAT homing configuration. Perhaps, it will be great if the people who worked on the CiA402 and CiA402 Homing components join and discuss together.

I am not an expert in LinuxCNC, I started a few months ago with the idea to upgrade my plasma machine and out of curiosity. During the last days I managed to get a working configuration with the servo drive internal homing. I would like to share the settings here and get feedback, because it does not completely match the documentation but it works.

Basically, this is the example from dbraun CiA402 component. What I achieved is that using the signal 'x-home-index' I can home the drive using its internal homing method. The feedback from the servo drive is also available - 'stat-homing' and 'stat-homed'. I tested with homing methods 34 and 19 and it works fine every time I set the 'x-home-index'.

As per dbraun's documentation this configuration should work only for index pulse homing but by changing the homing method via the 'ethercat-download' command it works for every homing method selected. This is kind of confusing because I was expecting that in order to use any internal servo homing method I should use rodw's custom home component. The index homing described by dbraun was interpreted by me that the servo drive sends its index pulse via CiA402 and the LinuxCNC takes it and completes the homing but apparently it does not work like that.

Attached are the configuration files.

Best Regards
Konstantin Kolev