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Home behaviour


MDustan
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I've noticed a change in behaviour in the way home commands are executed in our project.

 

We have moved to EtherCAT from a UBUS setup.

 

Using the call

 

"home FLHXMOTOR, FLHYMOTOR, FRHXMOTOR, FRHYMOTOR;"

 

Used to home all motors simultaneously.

 

The same call now homes each motor consecutively which adds significant time since we have 19axis to home.

 

 

Is this expected behaviour for an EtherCAT system?

 

We have moved from IDE2, 465, UbUS to an IDE4, LX86 setup

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