After following the documentation to compile and configure everything, there were no errors during runtime. Additionally, I would like to point out a mistake in the documentation: 'joint.N.is_custom-homing' should be 'joint.N.is-custom-homing', otherwise it results in an error.
Code:
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.000
BASE_PERIOD = 200000
SERVO_PERIOD = 1000000
HOMEMOD = armcnc_homecomp
Code:
#*******************
# AXIS X
#*******************
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-pos-fb <= joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-pos-cmd => cia402.0.pos-cmd
net x-pos-fb => cia402.0.pos-fb
net x-enable => cia402.0.enable
setp cia402.0.csp-mode 1
setp cia402.0.pos-scale 10000
net x-statusword lcec.0.0.cia-statusword => cia402.0.statusword
net x-opmode-display lcec.0.0.opmode-display => cia402.0.opmode-display
net x-drv-act-pos lcec.0.0.actual-position => cia402.0.drv-actual-position
net x-drv-act-velo lcec.0.0.actual-velocity => cia402.0.drv-actual-velocity
net x-controlword cia402.0.controlword => lcec.0.0.cia-controlword
net x-modes-of-operation cia402.0.opmode => lcec.0.0.opmode
net x-drv-target-pos cia402.0.drv-target-position => lcec.0.0.target-position
net x-drv-target-velo cia402.0.drv-target-velocity => lcec.0.0.target-velocity
net debounce-home-x debounce.1.0.in <= armcncio.gpio.x-home
net both-home-x debounce.1.0.out
net both-home-x => joint.0.home-sw-in
net both-home-x => joint.0.neg-lim-sw-in
net both-home-x => joint.0.pos-lim-sw-in
net x-request-custom-homing <= joint.0.request-custom-homing
net x-is-custom-homing => joint.0.is-custom-homing
Following the above configuration, the problem still persists. When homing, the motor moves, but the tool position in the AXIS simulation does not change.
I am hoping to use a different GPIO connection for homing operations, such as the GPIO17 on a Raspberry Pi, instead of the internal method of the EtherCAT driver. I am not sure if the method you mentioned supports such an operation?
