axis-homing-master-based.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 master-based homing using the RapidCode .NET API.
    Master-based homing is when the RMP controller executes the homing routine instead of the drive.
*/
 
using RSI.RapidCode; // RSI.RapidCode.dotNET;
 
Console.WriteLine("📜 Axis Homing: Master-Based");
 
// set sample config params
const RSIHomeMethod HOME_METHOD = RSIHomeMethod.RSIHomeMethodImprovedFALLING_HOME_NEGATIVE_START_POSITIVE_MOMENTUM;
 
// 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);
 
    // configure limit action
    axis.HardwareNegLimitActionSet(RSIAction.RSIActionSTOP);  // neg limit action set to STOP
 
    // configure homing parameters
    axis.HomeMethodSet(HOME_METHOD);  // set the homing method
    axis.HomeVelocitySet(10);         // set the home velocity
    axis.HomeSlowVelocitySet(1);      // set the slow home velocity (used for final move if necessary)
    axis.HomeAccelerationSet(100);    // set the acceleration used for homing
    axis.HomeDecelerationSet(100);    // set the deceleration used for homing
    axis.HomeOffsetSet(0.5);          // set position offset from home (zero) position
 
    // execute homing routine
    axis.Home();
 
    // check if homing was successful
    if (axis.HomeStateGet() == true)
        Console.WriteLine("Homing successful");
 
    // clean up
    Helpers.AbortMotionObject(axis);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}