Pokeys_homecomp EncoderSearch / Encoder Arm Topic: Pos_Fb Following errors

zarfld wrote:

an minor issue which i can workaraound by just providing pos_fb=0.0 during homing procedure on pokeys is that i don't know how to "Pause" Linuxcnc from checkeing pos_fb versus pos_cmd for following errors during homing procedure.

You use a component that sets pos_cmd == pos_fb while homing.
An example of this is the cia402.comp used with Ethercat drives.

Ooops, you need  a link  github.com/dbraun1981/hal-cia402

thanks for the hint!

that would be basically that what is done at that step (in homing.c in comp file from your link i did not find that part yet)?


BR
Dominik
edit (april10th): that got me a big step further, but besideds mapping pos_fb to pos_cmd (which worked for most of the sequence), i also had to change the ferror_limit in some steps as there may be abrupt changes due to position-values reset to home or zero  position.

not yet finished but i think i can solve it that way -> thanks again