StepperOnline A6 Servo

  Hi,

I have now created another configuration for 1 axis and tested it on each servo. Each servo is responsive and the pdo mapping is now correct. Now I have created the complete configuration and am getting the following error 
HAL: ERROR: duplicate variable 'lcec.0.A6.control-word'
LCEC: exporting pin lcec.0.A6.control-word failed
LCEC: failure in proc_init for slave 0.A6

Where am I going wrong?
 

The four driver slaves all have the same names within the XML file.

<slave idx="0" type="generic" vid="00400000" pid="00000715" configPdos="true" name="A6">

You need to change the 'name="A6"' parts to something like:

name="A6X" 
name="A6Y1"
name="A6Y2"
name="A6Z"

You also need to change the pins inside the halfile accordingly:

lcec.0.A6X.control-word
lcec.0.A6Y1.control-word
lcec.0.A6Y2.control-word
lcec.0.A6Z.control-word

Hello, 
I have now got all axes running.
I would now like to set up homing. 
When I start homing, the axes start moving.
However, the home switches are ignored and the axes continue to move.
I have linked the home switches in the HAL as follows:

net X-home-sw        <= lcec.1.6.din-4        => joint.0.home-sw-in

Is this correct, or does the home switch have to be set to HomeSwitch(DI3) from the A6 servo drive?

Well done, andrax.

There are two homing methods
1. Linuxcnc normal homing. Google "linuxcnc homing" and you will find an article incl illustrative figures describing this. 
2. Ethercat homing. Many people have used it, I have not so can't advise on that.
I propose you start with 1. You can always do 2. later on.
I actually think you are doing 1. and want to use one of the digital inputs as X homing switch. 
The signal you have made looks ok. Just check that din-4 is a general purpose switch, not tied to ethercat homing.
Use the halshow utility to follow/watch pins to make sure they react the way you want.
 

Hi,
Thanks.
Here is my current status again:
I am currently using cia402.comp and cia402homecomp.comp from @MobiusToast. 
What works: 
Switching on drives, moving and feedback.
All pins in the hal have been checked and are working
What doesn't work: Homing. Homing is started and drives start moving. 
Home-dog switch and hardware limit switch are ignored.

I have now gone through the whole thread again.
As I see it, and hopefully I have understood correctly, the drives are put into homing mode (0x6060 = 6).
The servos perform the homing independently. 
The homing status can be read via 0x6041 bit 15.
The evaluation is performed by cia402homecomp.comp and reports Linuxcnc homing completed.
Is that correct?

What do I need to do?
I need to connect the home-dog switch to the touch probe 1 (DI5), then it should work.
So first I need to order a cable for CN1. Stepperonline did not supply that.

regards 

Andre

andrax wrote:

As I see it, and hopefully I have understood correctly, the drives are put into homing mode (0x6060 = 6).
The servos perform the homing independently. 
The homing status can be read via 0x6041 bit 15.
The evaluation is performed by cia402homecomp.comp and reports Linuxcnc homing completed.
Is that correct?

 

That sounds correct.

I just put together a robot that homes using the drives. I didn't want a separate home switch, so I home each axis using the negative overtravel switch, and method 1 (Feed negative until negative overtravel goes logic high, then feed positive to the next index pulse).

All you must do is connect your negative overtravel switch to DI2. Home switch signals don't go through HAL in this application.

You might try the cia402 component from  github.com/dbraun1981/hal-cia402 . It has homing built in, and you don't need to touch the controlword register yourself.

I can confirm that the home function works. I made a connector from an old VGA cable and tested it on one axis.
Pin 13 <- 0V
Pin 8 <- Home switch (DI3)
Reference run method: 6
I am now waiting for the cables I ordered, and then I can test and complete the other axes.
Note 1:
The DI status (U40.04) is contradictory.
The inputs do not show as switched high.
When they are activated, they go low.
The driver interprets a low as 1, which is confusing.

Note 2:

There may be a problem with cia402homecomp.comp.
Once it has started, it cannot be stopped.
This happens, for example, when the servo moves to a limit switch.
It is not possible to move freely; the error “Home movement is still active” occurs.
This error also occurs when only one axis is referenced.
After completing the home movement, it is displayed as referenced, but can no longer be moved. The error “Home movement still active” also appears here. I will see how it behaves when I perform the home movement on all axes.

Note 3:

Since recently, I have been getting an amplifier error on the Y-axes (gantry) when starting Linuxcnc (gmocappy). The error can be acknowledged and does not reappear during runtime. 
However, this may have another cause.
 

DI3 is by default active low. Parameter C04.09 controls whether DI3 is active high or active low.

Hi,
Please excuse me for asking more questions.

The following parameters for homing are specified in Collin Bardini's .ini file.

HOME_SEARCH_VEL            = 15.625
HOME_LATCH_VEL            = 15.625
HOME_IGNORE_LIMITS        = YES

CIA402_HOMING_ENABLED = 1
CIA402_HOMING_METHOD=-2
CIA402_HOMING_SEARCH_VELOCITY=20000
CIA402_HOMING_LATCH_VELOCITY=7000
CIA402_HOMING_ACCELERATION=131072

Which of the two parameters determines the homing speed and acceleration? 
If the parameters are valid for CIA402, what units are they?

EDIT:
I figured it out. It's the lower values.
However, I still don't know what the units are.

Now I have an additional problem, though.
After completing the homing movement, the axes jump 1-2 mm and go into fault mode. The error can be acknowledged and the axis is referenced.
In the ini file, I have set HOME_OFFSET = 0.0 for the axes.
Where is my mistake?



Thank you in advance.
 

Hello,

I have now checked my entire configuration again.
I have also tried different homing methods.
Unfortunately, the error persists.
After homing is complete, the axes jump back and the servo shows Er87.1.
The axis is then referenced.
The error occurs on all axes.

Does anyone have any advice?