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  • kubes
  • kubes
08 Jun 2025 04:17 - 12 Jun 2025 17:22
Correct "home" configuration for absolute encoders was created by kubes

Correct "home" configuration for absolute encoders

Category: General LinuxCNC Questions

I have EtherCAT AC Servos with 23-bit multi-turn absolute encoders. I am trying to configure my "home" position. Is there a definitive documentation on using absolute encoders?

My absolute location is not where I want G53 "home" to be, in the case of the below and the provided INI sniplet, it's 7.3033 inches from the zero location I want.  Reading the documentation, it states to set HOME_OFFSET, and I also see a forum posts to set HOME. I feel like I am just guessing.  I have tried both, and neither works.  Also, I should never have to "home" the axis, correct?

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2
MAX_LINEAR_VELOCITY = 2
SPINDLES = 1
NO_FORCE_HOMING = 1

[AXIS_X]
MAX_VELOCITY = 2
MAX_ACCELERATION = 4
MIN_LIMIT = -9.0000
MAX_LIMIT = 9.0000

[JOINT_0]
TYPE = LINEAR
HOME = 0
HOME_OFFSET = 7.3033
MIN_LIMIT = -9.0000
MAX_LIMIT = 9.0000
MAX_VELOCITY = 2
MAX_ACCELERATION = 4
HOME_ABSOLUTE_ENCODER = 2


 
  • PCW
  • PCW's Avatar
08 Jun 2025 04:01
Replied by PCW on topic Mesa 7i97T & LinuxCNC setup struggles

Mesa 7i97T & LinuxCNC setup struggles

Category: Installing LinuxCNC

I would try the steps A,B,C of example 1 I posted earlier
  • BlownCorona
  • BlownCorona
08 Jun 2025 03:40
Replied by BlownCorona on topic Mesa 7i97T & LinuxCNC setup struggles

Mesa 7i97T & LinuxCNC setup struggles

Category: Installing LinuxCNC

ok that makes sense, and after spending some more time working on it, including taking the scale back to 10, i have it now in a pretty good spot where i would consider it time to start tuning.

does the halscope guide tommy put together also work for tuning torque mode PIDs? otherwise im currently hunting out an equally well put together guide so i dont resort to just changing numbers and seeing what happens.
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