How to change the homing order
Hello,
I am trying to home 3 drives in a specific order. Here akosodry asked the same question: Link to another question So what I did was specify the nodes as a list:
nodes: #The order here is important because it defines the homing order. welp it does not
- name: joint_z
id: 4 #node id
dcf_overlay:
"3202": "77" #Motor configuration
"6099sub1": "40000" #Homing speed when searching for switch
"6099sub2": "5000" #Homing speed when searching for zero
"3240sub1": "7"
"6098": "14" #Homing method,
"6081": "50000" #profile velocity
"3700": "1" #Reaction to following error
pos_to_device: "rint(pos*1000)" # rad -> mdeg
pos_from_device: "obj6064/1000" # actual position [mdeg] -> rad
vel_to_device: "rint(vel*1000)" # rad/s -> mdeg/s
vel_from_device: "obj606C/1000" # actual velocity [mdeg/s] -> rad/s
eff_to_device: "rint(eff)" # just round to integer
eff_from_device: "0" # unset
- name: joint_y
id: 3 # node id
dcf_overlay:
"6099sub1": "40000" #Homing speed when searching for switch
"6099sub2": "5000" #Homing speed when searching for zero
"3240sub1": "7"
"6098": "10" #Homing method
"6081": "50000" #profile velocity
"3700": "1" #Reaction to following error
"6065": "4294967295" #Following error surveillance deactivated
pos_to_device: "rint(-pos*1000)" # rad -> mdeg
pos_from_device: "-obj6064/1000" # actual position [mdeg] -> rad
vel_to_device: "rint(-vel*1000)" # rad/s -> mdeg/s
vel_from_device: "-obj606C/1000" # actual velocity [mdeg/s] -> rad/s
eff_to_device: "rint(eff)" # just round to integer
eff_from_device: "0" # unset
joint_z should be homed before joint_y, but no matter in which order I put them, joint_y always gets homed first. What am I doing wrong or is there a different solution?