Its a long time since I dug into this but i think homing is triggered from control.c somewhere. https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/motion/control.c The guts of homing is in the homing state machine https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/motion/homing.c#L734 There are many states that are no longer required for CANopen homing. Initially I had planned to remove a lot of states as they are not required but you might be able to change a state to drop through the unwanted ones. I have not looked at Dewey's latest code but it looks like the state machine is not editable by moving it into homecomp.comp as you could previously. Looking here http://linuxcnc.org/docs/devel/html/man/man9/homecomp.9.html some of the pins you envisaged are created. I think it would be good if you could touch base with Dewey to get a clear understanding of how he expected it to be used as my knowledge comes from an earlier version that was substantially changed...
Rod Webster *1300 896 832* +61 435 765 611 Vehicle Modifications Network www.vehiclemods.net.au On Fri, 29 Jul 2022 at 20:41, Nicklas SB Karlsson <n...@nksb.eu> wrote: > fre 2022-07-29 klockan 19:40 +1000 skrev Rod Webster: > > You can create those three pins (start homing, completed, error) in > > custom_makepins() and connect them to pins created in the ethercat > > xml > > config for your drives. > > They will appear as joint.n.start-homing etc. > > I was thinking about the end connected to linuxcnc there the pins > (start homing, completed, error) is needed while in other end whatever > is needed may be created in custom component. Or how do you make the > custom homing component do homing then ordinary home button is pressed > and get feedback then done? > > > Nicklas Karlsson > > > > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
