Maxon EPOS4 and ROS (Homing method problems)

I'm having problems with homing when the drive is initialized.

[ERROR] [1666007082.251535890]: Initializing failed: could not prepare homing; Homing failed

Without homing method (when ParameterValue is 0), the Positioning profile is working and everything is fine, but now I need to implement the homing method and I use dcf_overlay function in YAML to set to homing method to -3 and also to set all other parameters to desired values. When I launch ROS nodes and use service call: rosservice call /maxon/driver/init, initialization fails with above error message.

Is there anything else that has to be changed or added to start homing procedure?

Thank you. Tin

Asked by NitLesovon on 2022-10-17 07:04:53 UTC

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Answers

It is better to not use dcf overlay and just set the homing method in epos studio. When init service is called motor will home itself automatically.

Asked by NitLesovon on 2022-12-01 07:24:28 UTC

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What's the error message? Also, are you sure the homing method value is -3? Setting the values via dcf overlay should also work fine as long as the values are correct

Asked by sgermanserrano on 2022-12-02 12:41:57 UTC