tis 2022-05-03 klockan 13:09 +0100 skrev andy pugh: > On Tue, 21 Sept 2021 at 15:35, Daniel Dempsey <sqmathl...@gmail.com> > wrote: > > > Will try to sort out the rest of homing.c this week and hopefully > > test on > > the weekend when the shop is quiet. > > This has been sat in my inbox for months awaiting a reply. In the > meantime, Dewey has introduced a system whereby LinuxCNC can be > configured to support a custom homing scheme. Have you seen that > work? > > Here is a sample homing component: > https://github.com/LinuxCNC/linuxcnc/blob/master/src/hal/components/homecomp.comp > The docs for that component: > http://linuxcnc.org/docs/devel/html/man/man9/homecomp.9.html
Some commands are limited then not homed and guess motion module tell Linuxcnc this. Looking into my .hal file there is however neither an input to tell motion it should home nor an output connected somewhere to Linuxcnc GUI then it is homed. Not sure what is part of the motion module but could see it is named motmod in my .ini file. Pretty sure there is a problem in motion module as it always do the homing by itself running the joint(s) setting the offsets. There is a bit output pin in motion module indicating if homing but no possibility to tell motion module it is done by externally and not possible tell motion module homing is done or in an error. There is most certainly also a need to tell motion module if home offset is added or not by device itself then homing is completed successfully. Reading CANopen document homing procedure. At first device have to be set to special "Homing mode". There i an input bit to tell device start or continue homing. There is also three status bits, it is in particularly possible to tell i homing is: in progress, failed or done. Device also do add an offset internally so should not be done by motion module and it should also expect offset is added position to position then homing is completed succesfully. Might be possible to access position with or without added home offset but are uncertain. Even though device could do homing by itself I found it work great use the homing procedure builtin into Linuxcnc. There is however a problem index pulse on encoder usually is to short to detect by Linuxcnc. Nicklas Karlsson _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
