Trouble with Cia402 drive configuration

I see people use the word tune a lot, but I guess I don't exactly know what it means. Generally, I would think it just means working a certain value towards the best value. How would I tune the servo in this case? I know in the ClearPath Manual it says to auto-tune the servo using their software.

As for FERROR and MIN_FERROR, do those only apply when using PID calcs? Cause I think I have them set to 0 or maybe not included yet.

Lastly, what is ddt?

I might have to ship you a cake after all you've helped me with xD

Tune means to set the parameters in the servo drive so it follows the commanded position as closely as possible.
Usually involves PID parameters P, I and D in the drive, often some inertia setting.
I think there is a general guide in here to tune a servo. It is basically the same for all servos.
But your drive seems to have auto-tune. Check the manual and possibly download software.
And execute the auto-tune.
If your drive provides a following-error PDO use that to see how well it follows the commanded position.

The FERRORs are set as joint.?.f-error-lim from the ini file values outside of your hal file.
Set FERRORs to 1 inch and after you tuned the servos you can reduce them.

ddt takes the derivative of a pin value. ddt of the position feedback at constant velocity should be a constant value.
Very easy to spot if the feedback position isn't smooth. But you don't need to do that. Don't go there.

Summary: auto-tune.

 

Sweet, so setting the following error higher allows it to run at higher speeds. What is the trade-off? Is it less accurate with a higher following error?

How do I know when to edit something in the .ini file vs the .hal file? it sounds like ferror is linked to a hal pin, but is configured in the .ini file..?

Then, regarding a completely different topic, I was wondering about the pros and cons of using the servo's built-in Homing mode. And if it makes sense to, how would I use HM to home, then switch to CSP for operation?

On the same topic of homing, how would I set that up? Is there a hal pin for homing that I would need to link to a homing sensor?

I figured out how to setup homing mode in the ClearView software, and setup a home sensor, but I have no clue how to make it start homing when home is pressed in linuxcnc. I assume I need to do something with the joint.0.index-enable pin?

The following error can be large due to physical reasons, such as the axle sticking, tool breakage, etc.
With a good FERROR setting, the machine stops with a warning instead of destroying all sorts of things.
That's what you want. When the servos are working well, you should tighten the FERROR values ​​to get that protection.

Normally, values ​​are specified in the INI file.
With Ethercat it isn't so stream-lined yet, some values are set directly in the hal file like the pos-scale.
You can do it yourself, but it often introduces one more level of complexity when one just wants the machine to work.
In the ini file create a [ETHERCAT] section like below and use it in the hal file

Optional.

I am not the right person to elaborate on ethercat homing.
I use linuxcnc's homing variant with switches in the traditional way.
Many people have used ethercat homing, search the forum, or maybe someone chimes in.

There are 3-4 lines mentioning homing in the cia402 documentation github.com/dbraun1981/hal-cia402

I can't find much on Ethercat homing. Maybe I'll be able to figure it out down the road. How would I set it up with Inputs on the EL1008 instead, in the meantime?

It's standard linuxcnc homing from here on
linuxcnc.org/docs/html/config/ini-homing.html