Absolute Encoders - Homing & Backlash

Hello Everyone,

I have searched throughout the forum but not finding any example for Ethercat servo with absolute Encoders Integrated with linuxcnc. Can anyone share any example? 

Another question is how do we incorporate backlash with absolute Encoders??


Thanks much appreciated in advance. 

I don't think there will be anything specific that will be needed. The encoder count may be a 64 bit number but I beleive that is supported in Hal with 2.9.1. Worst case,  you might need to read 2 x 32 bit values and cobine them in a component. Jusr read up on the hal data type

In my config which you can find here  github.com/rodw-au/linuxcnc-cia402
I just connect the feedback as follows.
net 0-pos-fb     => joint.0.motor-pos-fb   <= cia402.0.pos-fb

but this is not an absolute encoder.

I am using an ethercat absolute servo motor and everything is working fine. If you can please send me your configuration and I will modify it for you.

HOME_ABSOLUTE_ENCODER = 0 | 1 | 2 - Used to indicate the joint uses an absolute encoder. At a request for homing, the current joint value is set to the HOME_OFFSET value. If the HOME_ABSOLUTE_ENCODER setting is 1, the machine makes the usual final move to the HOME value. If the HOME_ABSOLUTE_ENCODER setting is 2, no final move is made.

Thanks RODW for suggesting, I'm not understanding how to configure parameters as per drives I'm using but still I'll give a try.

Thanks a Lot

Sorry for late reply, Thanks for your support, I'm sending files from laptop in while. I'll try what RODW suggested. If you have any specific Panasonic A6B configuration help, it is really helpful.


Thanks a lot