Help Needed: Cracking the Code on LinuxCNC Servo Homing Setup!

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2 years 4 months ago #303431 by eduard
No I don't have. This is how the x-homing looks like:

#HOMING use EL8 drives internal homing. Uncomment the line below and in the ini as well. Home the machine, then comment out.
#net x-home-request joint.0.request-custom-homing => cia402.0.home
net x-home-request joint.0.custom-homing-is-requested => cia402.0.home
net x-homing joint.0.is-custom-homing <= cia402.0.stat-homing
net x-homed joint.0.custom-homing-finished <= cia402.0.stat-homed

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2 years 4 months ago #303432 by Aciera

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2 years 4 months ago #303433 by eduard
Now is working like a charm! Thank you for supporting my work!

May I ask for a change? I have this line in hal, which is enabling the homed state after the machine is on. It is very useful, since I can not jog the machine out of softlimits.

net machine-on halui.machine.is-on => halui.home-all

How can implement thin into the default / custom homing?

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2 years 4 months ago #303434 by Aciera
Code:
net machine-on halui.machine.is-on => halui.home-all

This means your machine will home all axes when you enable the machine. This should still work but since you now have two homing routines you will need to set the 'joint.n.request-custom-homing' pins for each joint depending on whether the drive already knows it's position (ie the absolute encoder holds a valid position) or not.

I'm not familiar with EtherCAT drives so I don't know if 'cia402.0.stat-homed' would give you an indication if the drive needed homing or not.

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2 years 4 months ago #303435 by eduard
I already try and in default state just gives me homing like before. Since the servos are absolute and the requested parameter is 2, the machine not moving just read the servo states and homing to absolute parameters.
In custom mode starts the homing when I turn on lcnc. Ideally in custom mode just dont need this feature. But I'm not familiar yet in hal to change it. It is possible to have this two states?

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2 years 4 months ago - 2 years 4 months ago #303436 by Aciera
You can use the 'show halconfiguration' tool and select 'cia402' ->'0' -> 'stat-homed' in left hand side of the window to add the pin 'cia402.0.stat-homed' to the 'WATCH' tab.
Then have a look if that pin is TRUE on startup if the drives encoders have a valid position and FALSE if one of the drives needs homing.
I'm afraid I'm just guessing here.

[edit]
If you cannot find a hal signal that reflects the homing state then you may have to use a GUI button to choose the homing procedure manually before enabling the machine.
Last edit: 2 years 4 months ago by Aciera.

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