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?
Code:
[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
