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

So, I see two ways to monitor the reference run.
I can only describe it using SCL Logic.
If I have understood the documentation correctly...
in principle as follows:

case homing_status of
0:
     0x6098 := (-2 to 35);
     0x6099-01 := 13981013 or default from .ini;
     0x9099-02 := 1398101 or default from .ini;
     0x609A := 131072 or default from .ini,
     0x6040 > Bit 4 :=1; // start homing with rising edge
     homing_status :=  10:  // next step

10: // 1st safety monitoring 0x6041>Bit 9=1 Homing started
      // 0x6041>Bit9=0 start timer

     IF  (0x6041>Bit9=0) THEN  
           TON(IN := TRUE, PT:= T#1s); // example 1 second
           Error_Bool:= TON.Q; // time expired error is set
    ELSE
          TON(IN:=FALSE) //timer break
          homing_status:= 20
          END_IF

20: // 2nd safety monitoring Speed comparison
     IF target speed <> current speed THEN
            TON(IN := TRUE, PT:= T#1s); // example 1 second
            Error_Bool:= TON.Q; // Time expired error is set
     ELSE
           TON(IN:=FALSE) //Timer break
           homing_status:= 30
     END_IF

30://wait for homing to finish 

IF (0x6041>Bit15=1) THEN
     //prevents the axes from jumping and gives linuxcnc the opportunity for synchronization
    set halui.axis.n.jog-speed 0.06
    homing_status :=0
END_IF
 

I still remember setting up LinuxCNC back then with my stepper motors and a MESA card – for me it was quite time-consuming and complicated.Currently I am again searching for suitable components.
Current status is as follows:

• 2 × AC Servo Drive, EtherCAT, A6-1000EC, 1,000 W
  www.omc-stepperonline.com/de/1000-w-ethe...67-a6-ec1000h2b1-m17
• 1 × AC Servo Drive, EtherCAT, A6-400EC, 400 W
  www.omc-stepperonline.com/de/400-w-ether...p67-a6-ec400h2b1-m17
• 1 × Unknown for motor CM3C100L-45A-P/DI/PK/VR/EZ4Z/SDB
  download.sew-eurodrive.com/download/pdf/29194644.pdf
  (I will take care of this later.)

Nothing is final yet, but currently it is pointing towards using these components.Regards
Mücke

@Aciera Why did they delete My Post and New Topic? Did I uncover a Masonic secret about compiling components for linux cnc??????

hello,

During todays testing Ive noticed time spiking during the G64 P0.005 and less ... I know there is a huge tolerance limit but I am reporting it for full testing approach ... code 1_1001.ngc from .tar file - again simulation or circural interpolation by cloud of point 

otherwise timing get huge improve ... no big spikes and no big spikes of accelleration during the movement too!!!

I wish happy new year to China! Take a rest and we will see us after !

thanks

For tandem gantry (X/X2) with squaring, I think we need the usual per-axis homing supervision (start→motion watchdog + overall timeout) and a gantry delta monitor using 6064 feedback (abort if |Xfb−X2fb| grows beyond a reasonable limit during homing, and check final delta tolerance once both bit12 are true). While internal homing runs we keep pos_cmd slaved to pos_fb for both axes.

When homing 2X axis, get the position and watch to keep axises difference small.
Position disconnected from joints when doing this.

generic is the right choise.
There used to be a performance difference between generic and say the igb driver.
But not anymore, I always use generic even if I could use igb or igc.

I upgraded to 2.9.8 on a test system and initially saw the same problem you have.
Then I rebooted and made too many things to remember and then it worked again.
So I can only recommend to reboot and cycle the power of the ethercat units.
If that doesn't work, go back to 2.9.5 or try 2.9.8 iso.
Your settings from before is fine.
 

Is that a custom keypad now?
Looks good!

While waiting for Andrax’s view, IMHO for a generic CiA402 setup there’s no standard “homing started” bit, so I’d supervise it with two simple triggers/timers.

I’d start the overall homing timeout when the drive actually confirms Homing mode (6061 == 6). Then, when we assert the homing start (opmode-specific, e.g. the bit-4 flip after 6061 confirms), I’d start a short “start→motion” watchdog and look for real motion as proof (e.g. |6064 - pos0| > eps, or 606C > threshold).

andrax wrote:

@rodw Yes, I would have implemented it in the same way in a PLC. The only thing missing is the safety timer from start homing to axis in motion. Then the homing would be practically monitored. Regarding the axis jumping, you could set the feed rates to minimum after completion until Linuxcnc has synchronized.
 

Can you explain this timer? I would have thought you get the homing signal from linuxcnc, pass it on to the drive then  loop until bit 12 goes true keeping lcnc in sync.. I can't remember off the top of my head how we check that the homing request has actually stuck but I seem to remember we could do this too before doing the loop. Bit 13 will tell us if there is an error during homing.

I think after you upgrade your linuxcnc, you might want to build a compatible version of linuxcnc-ethercat
and check your settings
with your hardware generic is inevitable, it is not supported, performance will not be guaranteed. I should look at getting hardware that already has support from IGH
like intel igc or intel igb
but I never got eoe to work, so you are already ahead of me on that front, so I might be just blabbering nonsense...

Hakan wrote:

rodw, I kind of think of a structure like this

if drive ready
  if csp

  else if csv

  else if pv
...
  else if probing

  else if homing
     if homing_method == 1
     else if homing_method == 2
     else if homing_method == 37
        Do the torque homing. Although it doesn't seem to be standard
     

Keep track of what op-mode we were in last time so we recognize a transition
between op-modes. To deal with offsets and such things.

Great feedback I wasn't really happy with what came after the state machine but I've had to put this project down for a week or so and you forget everything when its so complex. 

Looby wrote:

I know that some contactors are mechanical so going higher amps increases service life and solid state contactors are heat limited but why would companies state that such a high overage is needed?

Frankly, I'm a bit puzzled where that 5-10x safety factor recommendation comes from. A quick google search shows me 1.25x and 1.5x safety factor recommendations. I tend to go for a 1.5x safety factor, in more extreme duty conditions I've done 2x or 3x. A big contactor killer is frequent start/stops. I can imagine 10x might be used in some special applications.

The 7I76EU is compatible with 7I76E hal/ini files, so you can
just select "7I76E" in pncconf.