axis-homing-akd-drive.cs

Note

See Axis: Homing 📜 for a detailed explanation of this sample code.

Warning

This is a sample program to assist in the integration of the RMP motion controller with your application. It may not contain all of the logic and safety features that your application requires. We recommend that you wire an external hardware emergency stop (e-stop) button for safety when using our code sample apps. Doing so will help ensure the safety of you and those around you and will prevent potential injury or damage.

The sample apps assume that the system (network, axes, I/O) are configured prior to running the code featured in the sample app. See the Configuration page for more information.

/*  This sample application demonstrates drive-based homing with a Kollmorgen AKD drive using the RapidCode .NET API.
 
    AKD Drive-based ASCII homing uses preloaded methods available on the drive. 
    This allows for homing to be performed entirely in the drive without network latencies producing more accurate results. 
    Drive homing is the recommended homing strategy since it avoids network latencies by having the drive execute the homing routine.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Homing: AKD Drive");
 
int exitCode = 0;
 
// get rmp objects
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    Helpers.VerifyHardwareUsage(controller);
    Helpers.VerifyAxisCount(controller);
 
    // check is network is started
    if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL)
    {
        Console.WriteLine("Network not started. Please start it before running this app.");
        return Constants.EXIT_SUCCESS;
    }
    
    // get axis
    Axis axis = controller.AxisGet(axisNumber: Constants.AXIS_0_INDEX);
    Helpers.CheckErrors(axis);
    
    // check Axis type
    if (axis.NetworkNode.TypeGet() != RSINodeType.RSINodeTypeKOLLMORGEN_AKD)
    {
        Console.WriteLine("Wrong Axis type. This sample requires an AKD Axis.");
        return Constants.EXIT_SUCCESS;
    }
    
    // 1. get the drive ready
    axis.OperationModeSet(RSIOperationMode.RSIOperationModeHOMING_MODE);  // set mode to homing mode
    axis.NetworkNode.AKDASCIICommand("DRV.OPMODE 2");                     // set drive operation mode (0=current, 1=velocity, 2=position)
    axis.NetworkNode.AKDASCIICommand("HOME.AUTOMOVE 0");                  // 0=disabled, 1=homing starts when drive enabled
 
    // Make sure you know your motor's position, velocity, and acceleration units before you send any values
 
    // 2. set limit switches
    axis.NetworkNode.AKDASCIICommand("DIN5.MODE 18");    // set digital input modes - DI5 is now positive limit switch
    axis.NetworkNode.AKDASCIICommand("DIN5.INV 1");      // set polarity - DI5 is now active when low
    axis.NetworkNode.AKDASCIICommand("DIN6.MODE 19");    // set digital input modes - DI6 is now negative limit switch
    axis.NetworkNode.AKDASCIICommand("DIN6.INV 1");      // set polarity - DI6 is now active when low
 
    // 3. configure drive homing parameters
    axis.NetworkNode.AKDASCIICommand("HOME.MODE 1");     // select homing method (MODE1 = find limit input)
    axis.NetworkNode.AKDASCIICommand("HOME.V 20");       // set homing velocity
    axis.NetworkNode.AKDASCIICommand("HOME.ACC 200");    // set homing acceleration
    axis.NetworkNode.AKDASCIICommand("HOME.DEC 200");    // set homing deceleration
    axis.NetworkNode.AKDASCIICommand("HOME.DIR 0");      // set homing direction (0=negative, 1=positive)
    axis.NetworkNode.AKDASCIICommand("HOME.P 0");        // set home position
    axis.NetworkNode.AKDASCIICommand("HOME.DIST 0");     // set homing distance
    axis.NetworkNode.AKDASCIICommand("HOME.MAXDIST 0");  // set max homing distance
    axis.NetworkNode.AKDASCIICommand("HOME.IPEAK");      // set peak current
 
    // 4. get the axis ready
    axis.ErrorLimitActionSet(RSIAction.RSIActionNONE);   // set action to none so we don't get position error while drive is in control
    axis.Abort();                                        // disable axis
    axis.ClearFaults();                                  // clear any faults
    axis.AmpEnableSet(true, Constants.AMP_ENABLE_MS);    // enable the axis
    System.Threading.Thread.Sleep(100);                  // allow time for amp enable
 
    // 5. start homing
    axis.NetworkNode.AKDASCIICommand("HOME.MOVE");       // start homing procedure (active in opmode 2 only)
    Console.WriteLine("HOME.MOVE command sent");
 
    // 6. check is homing done
    UInt16 statusWord;
    int isHomed = 0;
    int axisIdx = axis.NumberGet();
 
    while (isHomed != 1)  // when isHomed = 1, homing has finished
    {
        statusWord = axis.NetworkNode.StatusWordGet(axisIdx);
        isHomed = statusWord >> 12;  // get 12th bit only - tells us homing is done when it goes high
    }
 
    Console.WriteLine("Axis homed");
 
    // 7. cleanup
    axis.OriginPositionSet(0.0);                                                         // set origin to 0 (needed for repeated use)
    axis.Abort();                                                                        // disable the axis
    axis.OperationModeSet(RSIOperationMode.RSIOperationModeINTERPOLATED_POSITION_MODE);  // restore mode of operation
    axis.ErrorLimitActionSet(RSIAction.RSIActionABORT);                                  // restore position error action
 
    exitCode = Constants.EXIT_SUCCESS;
}
// handle errors as needed
catch (Exception e)
{
    Console.WriteLine($"❌ Error: {e.Message}");
    exitCode = Constants.EXIT_FAILURE;
}
finally
{
    controller.Delete();  // dispose
}
 
return exitCode;