Ethercat A6 Servo Homing problem

Hey Guys, I’m pretty new here.
 I have a little Problem with configuring my Stepper online A6 Servo Drive. I want to use torque homing but I can not Figure Out wich Parameters I need to set in the Drive. 

And I also Think that my Linux CNC Config is wrong. Can maybe someone with more experience then me help me

Liebe Grüße

Jugo2 wrote:

I want to use torque homing ....

Is that where the motor moves till it hits a hard stop to home?
Sorry i can not help more, but no experience with EtherCAT, yet.

Thanks for the interest with StepperOnline's A6 servo system. At present, the StepperOnline A6 servo does not support torque-based homing functionality.

StepperOnline wrote:

Thanks for the interest with StepperOnline's A6 servo system. At present, the StepperOnline A6 servo does not support torque-based homing functionality.

If not, why is torque-based homing in the user manual as an option? (i.e. homing modes -1 & -2, pages 74 & 75)

Are there any other features/options which are documented but not available?  That is, what features were removed from the JSS715N servos for the A6 version?

-1 and -2 definitely work. i'm using them

fer662 wrote:

-1 and -2 definitely work. i'm using them

Thanks for the confirmation.  I just went through what now appears to be a pointless re-wiring exercise connecting limit switch signals to my axis drive digital inputs. (new servo installation on existing machine)

Have you modified/tuned the C10.30 - C10.32 parameters for hard-stop homing?

If so, can you share the mechanical arrangement and parameter values?

I haven't had to tweak any specific parameters for this. I basically had cia402 homing working with the sensors for X and Y and when i designed my Z carriage i messed up the location of the endstop sensor (i'd trigger going downwards, too many sleepless nights haha), so i went and changed the homing method to -1 and it worked on the first try. I went and tried it for the other axis, also worked on the first try. What is your status? Maybe I can help out but i already posted most of my experience getting this to work on the absolute encoder cable thread, i think you were in there. The issues i had pending to resolve were completely unrelated to homing, just some parameters i had changed from the defaults via sdoconfig, and those stay even if you remove them from the XML. When I figured out what they were it fixed my coordinate system woes.

fer662 wrote:

What is your status? Maybe I can help out but i already posted most of my experience getting this to work on the absolute encoder cable thread, i think you were in there. 

Was curious if you needed to adjust the hard-stop scheme as I might try it tonight or tomorrow - didn't want the servo to take off and ram an axis into oblivion if I'd misunderstood the A6 manual.

Here's a current status over-share:

• Can jog XYZA axes.  Have not checked accuracy, but it's not orders-of-magnitude off.
• Have not tried any homing yet, either cia402 or native LCNC
  • Drives programmed to use A6 'move-to-switch, back to index' (#3 & #4)
• Have cia402homecomp.comp installed, plan to use that but a little hazy on the entire sequence, especially managing the inevitable offset between switch location and index signal.
• Idea of zero home/limit switches is attractive.
  • I'm tempted to just bypass all homing BS and manually move the axes where I want, then set the encoders to zero and set LCNC to home-in-place.
• Current delay is getting the carousel-type toolchanger working.
  • Tried to use existing carousel.comp, but that was a big fail as I wasn't interested in massive overhaul of my existing M6 remap sequence.  Major problem was that carousel.comp tries to hunt for an index signal at every startup (in index/counts modes).
  • Have an AI-assisted carousel_eth.comp config 95% complete, maybe testing tonight.
    • Uses the cia402 absolute encoder feedback, so no index or per-pocket sensors needed.

The defaults for the torque homing must be good enough. i can see the carriage hitting the bearing block and the motor tries to push past it for like 2 seconds but it's not pushing strongly. You can see the encoder feedback not move anymore, and then it rolls backwards looking for the z pulse. If you're scared just unhook the coupling and stop the servo shaft with some pliers. If you're going to use absolute encoders you'll need to home the machine using the normal config, and then disable all the cia402 homing stuff and enable the absolute encoders. You still have to press the home button but it won't do anything. The way i dealt with this change is I have a branch in my source control where homing is enabled, and the main branch with absolute encoder config. if i disassemble the machine or unhook the encoder cables, i just boot linuxcnc on the other branch, home, and then switch back to main.