Homing trouble

I'm Japanese and I'm posting using Google Translate. Please forgive me if the text is difficult to read.

In the past, I consulted with LinuxCNC2.8.2 about the phenomenon where the HOME_OFFSET operation starts at full speed for a short time when the homing operation starts. The servo amplifier is torque controlled and uses PID control. The servo amplifier is connected to the servo amplifier using an analog output module via EtherCAT. At that time, I was only connecting the JOINT and Encoder Index-enable in the HAL file, but I was advised to connect it to the PID Index-enable, and the problem was solved.

This time, I am using LinuxCNC2.9,3 to create a machine with a similar configuration, and the homing operation starts at full speed for a short time when the HOME_OFFSET operation starts. In the HAL file, Index-enable is connected to JOINT, PID, and Endoder. And the PID module of this version of LinuxCNC has a pin like the AT-PID version used in between. And there is no AT-PID. I remember that Index-enable didn't work well with the previous version of AT-PID. At the time I thought it couldn't be helped since it was for servo adjustment. Is it possible to fix the behavior when entering this HOME-OFFSET? I've looked through various manuals, but I haven't found anything. Is there some information I don't know? Please let me know.

Thank you.

HOME_FINAL_VELOCITY = 10
For metric that would be 600mm/m
Set also SEARCH and LATCH values acordingly, in the ini file.

Thanks for your reply, tommylight.

Unfortunately, HOME_FINAL_VELOCITY is set appropriately.
The Homing parameter uses the value set in LinxCNC2.8.3.

Based on my experience adjusting the servo using AT-PID at that time, I think the PID module in 2.9.3 may have been replaced with AT-PID. I remember that AT-PID did not work properly even when connected to the Index-enable pin with JOINT and Encoder Index-enable.

Has anyone experienced this problem?

Thank you in advance.

Hello everyone.
Since there doesn't seem to be a clear solution, I have a question for those involved in the development of LinuxCNC.

Are the 2.8.3 pid and 2.9.3 pid modules the same?

Are they different?

Can I overwrite the 2.8.3 pid module in 2.9.3 and use it?

Would it be better to update the whole thing to 2.8.x?

Thank you in advance.

You can check on github:

2.8:
github.com/LinuxCNC/linuxcnc/blob/2.8/src/hal/components/pid.c

2.9:
github.com/LinuxCNC/linuxcnc/blob/2.9/src/hal/components/pid.c

[edit]

the differ by two commits:
github.com/LinuxCNC/linuxcnc/commit/bab0...0737b15cba7bdce50a5d
github.com/LinuxCNC/linuxcnc/commit/a882...ef79379518f8dd3973f9

[edit 2]
you can compile 'pid.c' ('sudo' is not required if you have a locally built installation (RIP-install)):
For the 'halcompile' tool you need to have the 'linuxcnc-dev' package installed

It took a while, but I managed to solve the problem.

Thank you to tommylight and Aciera for your advice.

I've posted more details at

forum.linuxcnc.org/ethercat/55535-question-of-homing#323788

Thank you very much.