Homing not works immediatelly after launch Linuxcnc

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7 months 3 weeks ago #344041 by tuxcnc
Homing not works immediatelly after launch Linuxcnc was created by tuxcnc

Short description:
Machine is equipped with integrated ethercat servosteppers, homing by Linuxcnc, not driver internally.
Every work fine but not first homing.
When I perform homing immediatelly after launch Linuxcnc I get some errors, mostly position error.
When I wait several seconds, for the DRO values changed, homing go normally.
It is my first machine with real position feedback and I have no idea what is the reason.
This is not gmoccapy problem, axis works the same.

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7 months 3 weeks ago #344054 by tiagounderground
Replied by tiagounderground on topic Homing not works immediatelly after launch Linuxcnc
probably is the time to the drivers to reach the op state. in my machine i lock the enable button with the op state from the servos

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7 months 3 weeks ago #344064 by tuxcnc
Replied by tuxcnc on topic Homing not works immediatelly after launch Linuxcnc

probably is the time to the drivers to reach the op state. in my machine i lock the enable button with the op state from the servos
 
Thanks.
The problem was more complex, but you drived me to good way.
I found that the lines in my hal file like <net x-modes-of-operation  cia402.0.opmode => lcec.0.X.opmode> not always works, and sometimes op state never changes to "operational".
Fortunatelly I never use other opmodes than 8, and I can set these permanently.
I added to my halfile code as bellow, and it seems work properly.
Code:
loadrt logic names=oper-sum personality=0x103 addf oper-sum                 servo-thread #******************* #  Set opmode permanently #******************* setp lcec.0.X.opmode 8 setp lcec.0.Y.opmode 8 setp lcec.0.Z.opmode 8 #******************* #  Check lcec operational #******************* net oper-x         lcec.0.X.slave-state-op   =>     oper-sum.in-00 net oper-y         lcec.0.Y.slave-state-op   =>     oper-sum.in-01 net oper-z         lcec.0.Z.slave-state-op   =>     oper-sum.in-02 net oper-sum-out   oper-sum.and              =>     iocontrol.0.emc-enable-in
(It is ability to use more inputs in the logic hal component.)
 

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