in cia402.comp there is this code responsible for home status
Code:
//home states
if (opmode_homing) {
stat_homed = ((statusword >> 10) & 1) && ((statusword >> 12) & 1);
stat_homing = !stat_homed && !((statusword >> 10) & 1);
}
Edit: well never mind it should be 12
so as soon as `Target is reached` 10bit and `Operation limit active` 12bit (according to Rtelligent user manual) it will be homed
but in Rtelligent manual i have also found `Home find` bit15.
So is this bit15 just Rtelligent extra or it present in other drivers as well?
Now as soon as i set `index-enable` and start homing it triggers error for joint.
taskintf.cc 976: Error on join 3, command number 123
More interesting is how to turn off saving position-offset
