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Thanks for your reply, andypugh.

Unfortunately, the counter and position values ​​of the EL5101 being used seem to be reset the moment index-enable is turned OFF. The position where it stopped at the end of homing is the correct position. The coordinates of LinuxCNC are 0, and the POS position of the EL5101 is the same as the HOME_OFFSET value. It seems that it is not possible to avoid the excessive PID deviation when index-enable is turned OFF. This phenomenon does not occur when homing is performed again.

Until now, I have tried converting the Count value instead of the EL5101 POS and using it for Feedback, but it did not work.

It worked fine with the EM7004, but I'm starting to think that an external torque mode amplifier cannot be used with the Ethercat driver.

Thank you.

Hi

thanks for your response. The input pin if the 5A BOB has to be inverted. It is giving an error that pin cannot be inverted. Please help.

 

The wiring will work for 3-4Axis mill and for Lathe.
For Lathe you need to set 'LinuxCNC->Machinetype' to lathe
and maybe remove 2 stepdir plugins.

If you need a Spindle-Encoder, you can add it freely to the other free ports.

It worked here. Running 40 times.