ros-industrial/ros_canopen

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

ye-luo-xi-tui opened this issue · 4 comments

ye-luo-xi-tui commented

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

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)
  • 👍1
ye-luo-xi-tui commented

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.

ye-luo-xi-tui commented

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

I tried the second option, it worked well.