Home()

void Home

(

bool

moveToZero = true

)

Description:

Home executes the homing routine as configured with the other homing methods. At the completion of finding the index / marker pulse, or the desired switch, the Axis will set the Home Offset, and then move to the zero position. If you don't want the Axis to move to zero after homing, set "moveToZero" false.

Parameters

moveToZero

Set true if you want the Axis to move to zero at the end of homing. (Default: true)

Part of the Homing method group.

Sample Code:

Axis: Homing

/*  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");
 
int exitCode = 0;
 
// 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);
 
    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);
 
    // 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);
 
    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;

Notes:

Be sure to set Home Action to ::RSIActionSTOP. Also set HW Positive/Negative Limit actions to STOP if homing with limit switches.

See also

HomeMethodSet, HomeOffsetSet, HomeVelocitySet, HomeAccelerationSet, HomeDecelerationSet, HomeActionSet

Master-based homing.

Examples

PathMotion.cpp, and axis-homing-master-based.cs.