axis-homing-ds402-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 DS402-compliant drive using the RapidCode .NET API.
    Drive-based homing avoids network latencies since the drive executes the homing routine.
    Many drives follow the DS402 standard, making this a widely applicable homing method.
    This sample configures SDO parameters, manages control word states, and monitors status word for completion.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Homing: DS402 Drive");
 
// set sample config params
const int offsetIdx = 0x607C;
const int offsetSub = 0x0;
const int offsetSize = 4;
const int offsetVal = 0;

const int methodIdx = 0x6098;
const int methodSub = 0x0;
const int methodSize = 1;
const int methodVal = 24;

const int targetSpeedIdx = 0x6099;
const int targetSpeedSub = 0x1;
const int targetSpeedSize = 4;
const int targetSpeedVal = 2;

const int originSpeedIdx = 0x6099;
const int originSpeedSub = 0x2;
const int originSpeedSize = 4;
const int originSpeedVal = 10;

const int accelIdx = 0x609A;
const int accelSub = 0x0;
const int accelSize = 4;
const int accelVal = 100;

const int CTRL_WORD_PREP_HOMING = 15;
const int CTRL_WORD_START_HOMING = 31;
const int DELAY_MS = 20;

const int STATUS_TARGET_REACHED = 0x400;    // bit 10: target reached (homing complete)
const int STATUS_HOMING_ATTAINED = 0x1000;  // bit 12: homing attained (successful)
const int STATUS_HOMING_ERROR = 0x2000;     // bit 13: homing error
 
// get rmp controller
MotionController controller = MotionController.Get();
 
try
{
    Helpers.CheckErrors(controller);
 
    // check is network is started
    if (controller.NetworkStateGet() != RSINetworkState.RSINetworkStateOPERATIONAL)
    {
        Console.WriteLine("Network not started. Please start it before running this app.");
        return;
    }
    
    // get axis
    Axis axis = controller.AxisGet(axisNumber: 0);
    Helpers.CheckErrors(axis);
 
    // 1. configure homing parameters via SDOs writes
    axis.NetworkNode.ServiceChannelWrite(offsetIdx, offsetSub, offsetSize, offsetVal);                      // home offset
    axis.NetworkNode.ServiceChannelWrite(methodIdx, methodSub, methodSize, methodVal);                      // home method (home type)
    axis.NetworkNode.ServiceChannelWrite(targetSpeedIdx, targetSpeedSub, targetSpeedSize, targetSpeedVal);  // speed during search for switch
    axis.NetworkNode.ServiceChannelWrite(originSpeedIdx, originSpeedSub, originSpeedSize, originSpeedVal);  // speed during search for zero
    axis.NetworkNode.ServiceChannelWrite(accelIdx, accelSub, accelSize, accelVal);                          // home acceleration
 
    // 2. configure control word for homing
    int axisCtrlWordIdx = (int)axis.NetworkIndexGet(RSINetworkIndexType.NetworkIndexTypeCONTROL_WORD_INDEX);
 
    axis.rsiControl.NetworkOutputOverrideValueSet(axisCtrlWordIdx, CTRL_WORD_PREP_HOMING);   // control word should be 15 before switching to homing mode
    axis.rsiControl.NetworkOutputOverrideSet(axisCtrlWordIdx, true);                         // override control word
    controller.SampleWait(DELAY_MS);                                                         // delay to give transitions time
 
    // 3. configure operation mode to homing
    axis.OperationModeSet(RSIOperationMode.RSIOperationModeHOMING_MODE);
    controller.SampleWait(DELAY_MS);
 
    // 4. home
    axis.rsiControl.NetworkOutputOverrideValueSet(axisCtrlWordIdx, CTRL_WORD_START_HOMING);  // start homing
    controller.SampleWait(DELAY_MS);
 
    bool cancelHome = false;
    UInt16 statusWord = axis.NetworkNode.StatusWordGet(Constants.AXIS_0_INDEX);
 
    while ((!cancelHome) && ((statusWord & STATUS_TARGET_REACHED) == 0))  // wait until target reached or cancel
    {
        // A timeout that sets cancelHome would be a good idea for this while loop
        statusWord = axis.NetworkNode.StatusWordGet(Constants.AXIS_0_INDEX);  // update status word
        // A short sleep or wait is appropriate so you aren't spamming this call
    }
 
    // evaluate homing result
    if ((statusWord & STATUS_HOMING_ATTAINED) == STATUS_HOMING_ATTAINED)
        Console.WriteLine("Axis homed successfully");
    else if ((statusWord & STATUS_HOMING_ERROR) == STATUS_HOMING_ERROR)
        Console.WriteLine("Error occurred during homing");
 
    // clean up
    Helpers.AbortMotionObject(axis);
    axis.rsiControl.NetworkOutputOverrideSet(axisCtrlWordIdx, false);
 
    // restore mode of operation to your desired control mode (typically CSP mode)
    axis.OperationModeSet(RSIOperationMode.RSIOperationModeCYCLIC_SYNCHRONOUS_POSITION_MODE);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}