Hickory and EL8 mode -6 homing

[Morello]

Hello all,

I am looking at purchasing a Hickory since it supports my servos, the Leadshine EL8's. Mine have absolute encoders and batteries.

I have seen nothing in the forums about mode -6 which is a sensorless torque limiting homing mode (pg 197 of EL8 manual). I am aiming to use this mode to home the machine when needed. Does Hickory support this form of homing or do I need to run cables for endstop sensors?

Looks like dual axis pairing (XYYZ) is supported via parameter 64 which is very nice.

Does anyone know if this mode is supported? Anyone else doing sensorless homing with these drives?

[centroid467]

Hello all,

I am looking at purchasing a Hickory since it supports my servos, the Leadshine EL8's. Mine have absolute encoders and batteries.

I have seen nothing in the forums about mode -6 which is a sensorless torque limiting homing mode (pg 197 of EL8 manual). I am aiming to use this mode to home the machine when needed. Does Hickory support this form of homing or do I need to run cables for endstop sensors?

Looks like dual axis pairing (XYYZ) is supported via parameter 64 which is very nice.

Does anyone know if this mode is supported? Anyone else doing sensorless homing with these drives?

Hello,

The Hickory does not currently support any EtherCAT homing modes. However, with the multiturn absolute encoders, all you would need to use switches for is initially establishing the home position. The CNC12/Hickory/Leadshine absolute multiturn system will remember that position so the day to day homing operation is done in place.

You do not need to use sensors for that in the first place as you can use reference mark homing in CNC12 to set the home position. You move the axis to the reference marks and then CNC12 seeks the nearest index pulse in the specified direction and sets home there. Nice and repeatable.

[cnckeith]

Hello all,

I am looking at purchasing a Hickory since it supports my servos, the Leadshine EL8's. Mine have absolute encoders and batteries.

I have seen nothing in the forums about mode -6 which is a sensorless torque limiting homing mode (pg 197 of EL8 manual). I am aiming to use this mode to home the machine when needed. Does Hickory support this form of homing or do I need to run cables for endstop sensors?

Looks like dual axis pairing (XYYZ) is supported via parameter 64 which is very nice.

Does anyone know if this mode is supported? Anyone else doing sensorless homing with these drives?

Hello,

The Hickory does not currently support any EtherCAT homing modes. However, with the multiturn absolute encoders, all you would need to use switches for is initially establishing the home position. The CNC12/Hickory/Leadshine absolute multiturn system will remember that position so the day to day homing operation is done in place.

You do not need to use sensors for that in the first place as you can use reference mark homing in CNC12 to set the home position. You move the axis to the reference marks and then CNC12 seeks the nearest index pulse in the specified direction and sets home there. Nice and repeatable.

you don't "have" to use actual switches for the initial homing, simple jog to the position you want to call home. CNC12 remembers that absolute position and the absolute encoders always report their position so when the control is power cycled the Hickory control knows exactly where it is at even if it is moved while the power is off. no switches needed.