How to set current encoder pos to current position while homing by Driver.

Start
Prev
1
Next
End

tar_san
Offline
Junior Member

05 Nov 2025 23:55 #337918 by tar_san

How to set current encoder pos to current position while homing by Driver. was created by tar_san

I have a problem. (EtherCAT Servo motor Incremental )

1) while Homing by driver ..
2) begin to move and then push Emstop.
3) Turn on " Machine Power "
4) Suddenly servo motor move to the previous position( when I push homing button) really crazy fast .

I think while homing, Servo driver control the position.

So I believe , While homing, LinuxCNC control position must be set by current servo driver encoder pos.

Please give me a hint to fix this problem.

I'm using ..
LinuxCNC Version 2.9.4
Lichuan LC10E Servo motor (17bit inc)
CIA402, Custom Homing component

Please Log in or Create an account to join the conversation.

andypugh
Offline
Moderator

06 Nov 2025 13:00 #337971 by andypugh

Replied by andypugh on topic How to set current encoder pos to current position while homing by Driver.

I would rather expect joint.N.motor-pos-cmd to re-init to the current encoder feedback value (joint.N.motor-pos-fb) on restart.
Maybe you have a missing HAL connection?
It's probably worth halscoping / halmetering those pins (and others) to see what is happening.

The following user(s) said Thank You: tar_san

Please Log in or Create an account to join the conversation.

tar_san
Offline
Junior Member

06 Nov 2025 23:12 #338007 by tar_san

Replied by tar_san on topic How to set current encoder pos to current position while homing by Driver.

Thanks. I'm almost solving this problem and finalize my project. After that, I'm planning to share my "Lichuan-EtherCAT" project .

Please Log in or Create an account to join the conversation.

Start
Prev
1
Next
End

Time to create page: 0.058 seconds

How to set current encoder pos to current position while homing by Driver.

Attachments: