How to skip entering homing mode when I call driver/init service of canopen_motor_node(canopen_chain_node)?

ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)

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How to skip entering homing mode when I call driver/init service of canopen_motor_node(canopen_chain_node)? #439

Closed ye-luo-xi-tui closed 2 years ago

ye-luo-xi-tui commented 3 years ago

Hi,I find that the driver/init would try to make my device enter homing mode.If it failed,init failed too.But manufacturer didn't provide homing method which I need.And I want to make my device home in nonnormal method.So how can I skip the step that enter homing mode of the service driver/init?

mathias-luedtke commented 3 years ago

You have 3 options:

set homing method (0x6098) to 0, make it the DefaultValue in EDS
remove the homing mode from supported drive mode 0x6502
implement your own homing (example)

ye-luo-xi-tui commented 3 years ago

You have 3 options:

set homing method (0x6098) to 0, make it the DefaultValue in EDS

remove the homing mode from supported drive mode 0x6502

implement your own homing (example)

I will try, thanks.

mathias-luedtke commented 2 years ago

@ye-luo-xi-tui: Did it work?

ye-luo-xi-tui commented 2 years ago

@ye-luo-xi-tui: Did it work?

I tried the second option, it worked well.