EtherCAT servo homing

TimP
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Senior Member

17 Jan 2024 14:44 - 18 Jan 2024 13:30 #290955 by TimP

Replied by TimP on topic EtherCAT servo homing

in cia402.comp there is this code responsible for home status

//home states  
  if (opmode_homing) {
    stat_homed    = ((statusword >> 10) & 1) && ((statusword >> 12) & 1);
    stat_homing   = !stat_homed && !((statusword >> 10) & 1);
  }

Edit: well never mind it should be 12

so as soon as `Target is reached` 10bit and `Operation limit active` 12bit (according to Rtelligent user manual) it will be homed
but in Rtelligent manual i have also found `Home find` bit15.
So is this bit15 just Rtelligent extra or it present in other drivers as well?

Now as soon as i set `index-enable` and start homing it triggers error for joint.
taskintf.cc 976: Error on join 3, command number 123

More interesting is how to turn off saving position-offset

Last edit: 18 Jan 2024 13:30 by TimP.

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TimP
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18 Jan 2024 14:06 #291030 by TimP

Replied by TimP on topic EtherCAT servo homing

answering my own question about motor-offset.

To not have it i just need to remove
POSITION_FILE = filename
from ini file, and now finally i don't have this offset added to true motor position each time when i reload linuxcnc.

i don't need it because i have absolute encoders

The following user(s) said Thank You: TangentAudio

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Abdulkareem
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15 May 2024 09:08 #300666 by Abdulkareem

Replied by Abdulkareem on topic EtherCAT servo homing

hello i am facing a similar issue with homing and i also use el8 motor but didn't understand how you solved it do you mind further explaining

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peterpan
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11 Nov 2025 20:29 #338213 by peterpan

Replied by peterpan on topic EtherCAT servo homing

My drive have several homing method built in, and I recently solved to change the drive state druring the LCNC start, so I can initialize the drive to HM mode first, than CNP mode.

How?

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