Category: EtherCAT
Now that you confirm this feature is supported and should work. Which would have been good to know in the first response. I can dig deeper, I assume this is exposed in the hal, correct? Is there a special condition or hal pin for jog while within soft limits? While, there is tons of ductiontation, it is hard to find it when you don't know what you are looking for. If I had to guess, the issue is that it's not a direct EtherCAT issue (has it just a HAL component), but rather a dependency on the configuration from a configuration wizard.
I do agree a machine should never be beyond the limits, but if the logic is just a straight greater than or less than than I think there could be an edge case that needs better logic. Maybe this has already been addressed. I have 23-bit encoders, so that is > 8.3 million per rev. So even with the translation to machine units there is a very very small "error" factor. Meaning the "actual" location will fluctuate (bad word choice) with no movement by this very small amount. This can make the axis and/or joint appear its beyond a soft-limit. For instance, when I zero the DRO will remain "zero" but the "-" will flash on and off. Again, maybe all this has been addressed.
Additionally, I have found incorrect and inaccurate details regarding the setup of absolute encoders and how LCNC handles them in both document and forum searches. I am more than willing to contribute back, but "guidance" would be more helpful.
Lastly,
tommylight
Thanks for all your efforts as a moderator; it's a thankless task.
