On 2020-12-04 10:59, andy pugh wrote:
I suspect that it might be best to ignore the built-in homing.
Configure for immediate homing (ie zero HOME_SEARCH_VELOCITY) and then
handle to motion interlock with the motion pins.
@all, thank you for your help.
We prefer using servo drive built-in homing because it is already
managing everything, including limit switches.
This "external" homing is now working as suggested by Andy, thanks to a
small ladder logic.
We have modified gmoccapy to trig ladder, instead of calling
self.command.home().
At the end of cycle, we are triggering halui.joint.N.home so that LCNC
knows homing is done.
Frederic.
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