Hi Daniel,

I will zip and mail you the complete source tree of src/emc/task/* .
Do you use an IDE ?
This makes navigating the source and understanding relations and dependencies much easier.
I use Eclipse/CDT (don't do this on a slow machine, it's a pain )
and a diff tool is very helpful,too, to show differences between files.

I would suggest NOT to change the variable names.
Esp. not something with Ethercat, CANopen, Mechatronik Link or any other fieldbus.

IMHO Autohoming function is in no way special to any fieldbus technology.


I am using Delta's ASDA-A2E and I believe that they one of the brands used
in the original development .

I decided to order a set of three  ESTUN ProNet and one EtherCAT board for a ServoStar 600
for the Brother TC221.
So i have them in the shelve if the day comes when the analog servo drives die.

Until then, I will use them to set up an environment for EtherCAT development.


out before putting my lathe through commissioning.
Good luck and keep the emergency stop close. :-)
Lathes are nerve wrecking. Everthing so close, so much accelerated masses.

next machine in retrofit line is a  AXA VSC 0 (7metric tons vertical milling center).
It has a unbalanced Z Axis.
Loosing the brake if servo positioning loop is not under control will send the Z-Axis literally into the table.

Will get funny, too.

cheers

Rainer




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