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jstiefel / MaxonEPOS2_ROS

ROS package to control Maxon EPOS2 controller.
BSD 3-Clause "New" or "Revised" License
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Problem with rosservice call /maxon/epos_homing_service #1

Open Aniket286 opened 5 years ago

Aniket286 commented 5 years ago

Whenever I try to call the rosservice epos_homing_service the LED on the Maxon EPOS2 turns red. But I am able to activate and run velocity profile mode through HelloEposCmd (the example code of EPOS Linux Library).

jstiefel commented 5 years ago

Did you configure your EPOS2 with the provided software (only available for Windows) and connect the limit switches correctly? You need to configure them first.

Aniket286 commented 5 years ago

Thank you so much for replying.Yes, I have configured the EPOS2 with EPOS Studio software. How can I check if the limit switches are connected correctly ? Thanks again.

jstiefel commented 5 years ago

There is an instruction with all the connectors. For example search after switch in: https://www.maxonmotor.ch/medias/sys_master/root/8830261919774/EPOS2-24-2-Hardware-Reference-En.pdf

In EPOS Studio you have the possibility to add your home switch. There are different kinds, e.g. normally open/ normally close. This also depends on your switch (you can measure it with a multimeter).

However, this is just a guess. You should read out the error message. I assume that a red LED could mean anything.

Aniket286 commented 5 years ago

Sir, I searched in the Hardware Reference for EPOS2 24/5 (as this is the controller I have ), and it is not properly stated there if the signal pin is the output of the limit or for the configuration of limit switch. Also I am able to run Homing Mode in Windows through EPOS Studio (in Negative limit switch mode)

Aniket286 commented 5 years ago

However the Homing Mode does not bring Position Value to Zero. When Homing is done in Negative Limit Switch mode it just decreases the position value till it the Homing is stopped. And in case of Positive Limit Switch Mode it increases the position value till Homing is stopped (the motor rotates in opposite direction this time).