- Configuring LinuxCNC
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- EtherCAT
- Homing not works immediatelly after launch Linuxcnc
Homing not works immediatelly after launch Linuxcnc
- tuxcnc
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08 Mar 2026 20:23 - 08 Mar 2026 20:25 #344041
by tuxcnc
Short description:
Machine is equipped with integrated ethercat servosteppers, homing by Linuxcnc, not driver internally.
Every work fine but not first homing.
When I perform homing immediatelly after launch Linuxcnc I get some errors, mostly position error.
When I wait several seconds, for the DRO values changed, homing go normally.
It is my first machine with real position feedback and I have no idea what is the reason.
This is not gmoccapy problem, axis works the same.
Homing not works immediatelly after launch Linuxcnc was created by tuxcnc
Short description:
Machine is equipped with integrated ethercat servosteppers, homing by Linuxcnc, not driver internally.
Every work fine but not first homing.
When I perform homing immediatelly after launch Linuxcnc I get some errors, mostly position error.
When I wait several seconds, for the DRO values changed, homing go normally.
It is my first machine with real position feedback and I have no idea what is the reason.
This is not gmoccapy problem, axis works the same.
Last edit: 08 Mar 2026 20:25 by tuxcnc. Reason: No video
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- tiagounderground
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09 Mar 2026 11:57 #344054
by tiagounderground
Replied by tiagounderground on topic Homing not works immediatelly after launch Linuxcnc
probably is the time to the drivers to reach the op state. in my machine i lock the enable button with the op state from the servos
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- tuxcnc
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09 Mar 2026 18:33 #344064
by tuxcnc
The problem was more complex, but you drived me to good way.
I found that the lines in my hal file like <net x-modes-of-operation cia402.0.opmode => lcec.0.X.opmode> not always works, and sometimes op state never changes to "operational".
Fortunatelly I never use other opmodes than 8, and I can set these permanently.
I added to my halfile code as bellow, and it seems work properly.(It is ability to use more inputs in the logic hal component.)
Replied by tuxcnc on topic Homing not works immediatelly after launch Linuxcnc
Thanks.probably is the time to the drivers to reach the op state. in my machine i lock the enable button with the op state from the servos
The problem was more complex, but you drived me to good way.
I found that the lines in my hal file like <net x-modes-of-operation cia402.0.opmode => lcec.0.X.opmode> not always works, and sometimes op state never changes to "operational".
Fortunatelly I never use other opmodes than 8, and I can set these permanently.
I added to my halfile code as bellow, and it seems work properly.
loadrt logic names=oper-sum personality=0x103
addf oper-sum servo-thread
#*******************
# Set opmode permanently
#*******************
setp lcec.0.X.opmode 8
setp lcec.0.Y.opmode 8
setp lcec.0.Z.opmode 8
#*******************
# Check lcec operational
#*******************
net oper-x lcec.0.X.slave-state-op => oper-sum.in-00
net oper-y lcec.0.Y.slave-state-op => oper-sum.in-01
net oper-z lcec.0.Z.slave-state-op => oper-sum.in-02
net oper-sum-out oper-sum.and => iocontrol.0.emc-enable-inPlease Log in or Create an account to join the conversation.
- Configuring LinuxCNC
- Advanced Configuration
- EtherCAT
- Homing not works immediatelly after launch Linuxcnc
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