axis-homing-master-based.cs

/*  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(Constants.AXIS_0_INDEX);
    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
    axis.ClearFaults();
    axis.AmpEnableSet(false);
}
// handle errors as needed
finally
{
    controller.Delete();  // dispose
}