This application provides example Master Application for Homing Mode (host side). The nodes must be running test_ethercat-motorctrl-mode from sc_sncn_motorctrl_sin before the Master application runs.
In Homing mode we provide homing based on switches (positive switch/ negative switch). If configured homing based for positive switch: the node hunts for home switch in the positve direction. Once the home switch is found the node resets the position counter with the offset found.
Now the node is homed and we can continue with either Cyclic/Profile modes. In the example we run Cyclic Synchronous position mode.
The motor configuration and control parameter for each node connected to the motor must be specified at config/motor/bldc_motor_config_N.h
Dependencies: sc_sncn_motorctrl_sin, lib_linux_ctrlproto, lib_linux_motor_drive
NOTE: The application requires EtherCAT Master for Linux from IGH to be installed on your PC. The node configuration must be defined in ethercat_setup.h