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ros-industrial / ros_canopen

CANopen driver framework for ROS (http://wiki.ros.org/ros_canopen)
GNU Lesser General Public License v3.0
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Homing failed #454

Closed archee8 closed 2 years ago

archee8 commented 2 years ago

[ INFO] [1645085480.296265564]: Current state: 2 device error: system:125 internal_error: 0 (OK) [ INFO] [1645085480.296451906]: Current state: 0 device error: system:125 internal_error: 0 (OK) [ INFO] [1645085480.297074644]: Current state: 0 device error: system:0 internal_error: 0 (OK) [ INFO] [1645085480.297225639]: Current state: 0 device error: system:0 internal_error: 0 (OK)
[ERROR] [1645085480.297865332]: Initializing failed: homing not attained; Homing failed success: False
message: "homing not attained; Homing failed"

When I run driver/init I get a homing error, but if I call driver/init again the drive will move and error again, and so on until the home signal is received. Kinco drive is used. In Kinco Servo + if I call homing everything completes without error. How to solve this problem?

cschindlbeck commented 2 years ago

This could be related to the timeout problem #433 If the joint is initially too far from the limit switch, it will interrupt the first time due to the timeout. The second time the joint is closer to the limit switch and it will succeed within the default time frame