StepperOnline A6 Servo

Hello, 
I have now got all axes running.
I would now like to set up homing. 
When I start homing, the axes start moving.
However, the home switches are ignored and the axes continue to move.
I have linked the home switches in the HAL as follows:

net X-home-sw        <= lcec.1.6.din-4        => joint.0.home-sw-in

Is this correct, or does the home switch have to be set to HomeSwitch(DI3) from the A6 servo drive?

Well done, andrax.

There are two homing methods
1. Linuxcnc normal homing. Google "linuxcnc homing" and you will find an article incl illustrative figures describing this. 
2. Ethercat homing. Many people have used it, I have not so can't advise on that.
I propose you start with 1. You can always do 2. later on.
I actually think you are doing 1. and want to use one of the digital inputs as X homing switch. 
The signal you have made looks ok. Just check that din-4 is a general purpose switch, not tied to ethercat homing.
Use the halshow utility to follow/watch pins to make sure they react the way you want.
 

Hi,
Thanks.
Here is my current status again:
I am currently using cia402.comp and cia402homecomp.comp from @MobiusToast. 
What works: 
Switching on drives, moving and feedback.
All pins in the hal have been checked and are working
What doesn't work: Homing. Homing is started and drives start moving. 
Home-dog switch and hardware limit switch are ignored.

I have now gone through the whole thread again.
As I see it, and hopefully I have understood correctly, the drives are put into homing mode (0x6060 = 6).
The servos perform the homing independently. 
The homing status can be read via 0x6041 bit 15.
The evaluation is performed by cia402homecomp.comp and reports Linuxcnc homing completed.
Is that correct?

What do I need to do?
I need to connect the home-dog switch to the touch probe 1 (DI5), then it should work.
So first I need to order a cable for CN1. Stepperonline did not supply that.

regards 

Andre

andrax wrote:

As I see it, and hopefully I have understood correctly, the drives are put into homing mode (0x6060 = 6).
The servos perform the homing independently. 
The homing status can be read via 0x6041 bit 15.
The evaluation is performed by cia402homecomp.comp and reports Linuxcnc homing completed.
Is that correct?

 

That sounds correct.

I just put together a robot that homes using the drives. I didn't want a separate home switch, so I home each axis using the negative overtravel switch, and method 1 (Feed negative until negative overtravel goes logic high, then feed positive to the next index pulse).

All you must do is connect your negative overtravel switch to DI2. Home switch signals don't go through HAL in this application.

You might try the cia402 component from  github.com/dbraun1981/hal-cia402 . It has homing built in, and you don't need to touch the controlword register yourself.

I can confirm that the home function works. I made a connector from an old VGA cable and tested it on one axis.
Pin 13 <- 0V
Pin 8 <- Home switch (DI3)
Reference run method: 6
I am now waiting for the cables I ordered, and then I can test and complete the other axes.
Note 1:
The DI status (U40.04) is contradictory.
The inputs do not show as switched high.
When they are activated, they go low.
The driver interprets a low as 1, which is confusing.

Note 2:

There may be a problem with cia402homecomp.comp.
Once it has started, it cannot be stopped.
This happens, for example, when the servo moves to a limit switch.
It is not possible to move freely; the error “Home movement is still active” occurs.
This error also occurs when only one axis is referenced.
After completing the home movement, it is displayed as referenced, but can no longer be moved. The error “Home movement still active” also appears here. I will see how it behaves when I perform the home movement on all axes.

Note 3:

Since recently, I have been getting an amplifier error on the Y-axes (gantry) when starting Linuxcnc (gmocappy). The error can be acknowledged and does not reappear during runtime. 
However, this may have another cause.
 

DI3 is by default active low. Parameter C04.09 controls whether DI3 is active high or active low.