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Thanks for the reply.
For the 930000, fake ohmic sensing are we expecting the voltage value to around 15500.

Please let me know

Found my problem, the problem was me!
My soft limits were further away than hard limit switches. Why I was set it up like this, I have no idea...

Thank everybody for thinking with me!

If you do not, you will have a huge offset that would have to be compensated
by using a similar setpoint. If you use the 22900 offset, you will now have
a 0 to 1000 active range ( if scale = 1)

That was me, i did check and it was the same post, and at the time the post here was not deleted.
Sorry for the inconvenience.

Good point about the homing bits being mode-specific / poorly documented. I initially mentioned bit12 as an example, assuming we’re aiming for a generic solution, but that’s clearly not something we can rely on.

I think the right approach is to keep the core logic generic (state machine + timeouts + progress watchdog), and make the actual homing status (done/active/error) configurable per drive, e.g. via masks on 0x6041.

While internal homing runs, keeping pos_cmd slaved to pos_fb still seems necessary to avoid the jump when control is handed back.

With that, A6 becomes just one mapping, not a special case baked into the algorithm.

Disconnects might be caused by multiple reasons.

a) poor xhci support for that system - try to connect the pendant to a USB 2.0 port
b) check if USB autosuspend is disabled (as root)
cat >/sys/module/usbcore/parameters/autosuspend
echo -1 >/sys/module/usbcore/parameters/autosuspend
c) if connected to a USB hub - don't do that, connect it directly
d) EMI issues, check if there's a pattern that can trigger this, check if a relay is able to disconnect it somehow; I had HDMI displays resetting due to issues with relays a decade ago (eg. missing flyback diodes)

I worked on the XHC pendant some years ago to fix some issues, I never had disconnect issues with it.

The issue was that you have posted the same question in two different topics. That is called 'Double posting' and is against forum rules and why I removed the post here.
Unfortunately somebody else seems to have worked on removing the other topic at the same time.

Thank you. This is an industrial keyboard from SYNTEK, model SK4-MB. It is made on a single board, but electrically there are two keyboards. The upper part with letters and numbers is a standard PS/2 (I had to figure out how to remap it). The lower part is a matrix keyboard combined with LEDs. Connecting and configuring it was the most time-consuming part of the job.

I feel like Im taking crazy pills... I swear Ive read that 2 dozen times in the past few days.  I THINK whats happened is I have been making an assumption on some things that I shouldnt have.  I have seen that inrush current on inductive loads can be 5-10x the constant running amps and assumed that I needed to have a contactor that was rated for THAT amount.  WOW I feel like a huge mental burden has been lifted as I have been stressing over this for a week.  Ive bought all the stuff for this CNC project and then hit this and was worried my plan wasnt possible and I had wasted a bunch of time and money.  


About a quarter the way down this states
"As a result, the motor attempts to draw the locked-rotor current (LRA), which is typically 6 to 8 times greater than the full-load current. If this high inrush current is not quickly reduced, the motor windings will overheat and may eventually burn out."
www.electricaltechnology.org/2025/06/siz...ctor-controller.html


Under the AC3 
"The most common category, AC3, governs contactors for squirrel-cage induction motors, which constitute 70% of industrial motor applications812. These motors exhibit high inrush currents (5–7× rated current) during startup but stabilize during running."
viox.com/electrical-standards-for-contac...lization-categories/


The below are just amazon listings and are specific to solid state relays

At the bottom of the page under the wiring diagram this relay states
"How to choose correctly:
STEP 1: Choose a correct type Current of Equipment/Ratio = Current of SSR PS: The Ratio depend on the kind of your loading equipment. Resistive load :70%, Inductive load:20%,Capacitive load：10%."
www.amazon.com/CGELE-SSR-80DD-3-32VDC-5-...astic/dp/B09HRX922Z/


This one states the
"Step 2: Choose the Correct Current
For resistive loads:SSR current = 2 x operating current of the load (heating equipment, etc.)
For inductive loads:SSR current = 6 x operating current of the load (motor, etc.)
For capacitive loads:SSR current = 10 X the operating current of the load (capacitance, etc.)"
www.amazon.com/LCLCTC-Solid-Output-24-48...iator/dp/B0BVFP7YB2/

The output of the command "lcec_configgen" should give you something you can use.
Cut out the part for the el2819. Adapt the names of the device and pins as needed.
Two examples for naming of bit outputs
forum.linuxcnc.org/ethercat/58248-kinko-ect-coupler#341688

Hi,I'm using LinuxCNC with the linuxcnc-ethercat driver and noticed that the EL2819 is not supported out of the box.The slave is detected by the EtherCAT master, but it isn’t mapped correctly in linuxcnc-ethercat.Since the EL2819 is a 16-channel digital output (similar to other EL28xx modules), is there an existing definition I can use, or do I need to manually add support (e.g. by copying a similar module and adjusting the PDO mapping)?Thanks for any guidance.

If I have violated something, then the moderators must somehow notify about the violation. Maybe I'm asking something wrong, revealing some secrets? I don't blame you for deleting the topic......... Okay, we drove.

I always worried about joint axis homing but I think now it can be done in the drive with homing offset 0x607c which is really the same as our HOME_OFFSET. This probably would need to include  an indrive position adjustment for the last joint that makes it home to square the gantry. I need to think through the application of this as its just at the idea stage now.
I really appreciate the input here about the state machine. Homing sounds simple until you go to do it!

I think the homing bits I mention are often described as mode specific or some such garbage, but it is part of the cia402 homing standard that is not well desribed by many manufacturers.

Had event logging on today. It failed again (loop =10).
libusb_submit_transfer failed with LIBUSB_ERROR_NO_ DEVICE (-4) 
github.com/tenderlove/libusb/blob/763471...libusb/libusb.h#L750
github.com/tenderlove/libusb/blob/763471...13/libusb/io.c#L1288

 

Syslog is absolutely full of usb disconnects of the xhc device. Every 16-17 second the device disconnects and reconnects.
Must be the xhc component that does this? It only happens when linuxcnc is running.

 

If I look in github.com/tenderlove/libusb/blob/master...usb/os/linux_usbfs.c and search for LIBUSB_ERROR_NO_DEVICE,
they are there.
Why are all the disconnects/reconnects there? Wouldn't surprise me if that can cause something.
 

I did not remove the new topic, must have been some overlapping moderator work there.
Restored the post here.