HomeOffsetSet()

void HomeOffsetSet

(

double

offset

)

Description:

During a master-based homing sequence (as configured by HomeMethodSet), the controller detects a specific physical event (like reaching a limit switch, detecting an index pulse, hitting a hard stop, etc.) which serves as the homing reference point.

This function, HomeOffsetSet, defines the position value (in UserUnits) that the axis coordinate system should report at the precise moment this reference event is detected.

The relationship is: Reported Axis Position = -offset when the reference event occurs.

By setting this offset, you establish the relationship between your logical user coordinate system (where zero or other key positions are) and the physical feature used for homing.

Example Use Cases:

• Defining a Hard Stop Location: If you home to a physical hard stop and want that exact position to correspond to 50.0 UserUnits in your coordinate system, you would set offset = -50.0.
• Aligning with an Index Pulse: If the homing method uses an encoder index pulse (Z signal) as the reference, setting offset = 0.0 would make the position zero precisely when the pulse is detected. Setting offset = 1.0 would make the position -1.0 when the pulse occurs.
• Centering the Travel Range: If you home to one end of travel (e.g., a positive limit) and know the total travel range, you can set the offset to place zero in the middle. For example, homing to a positive limit representing the end of a 200-unit range, setting offset = -100.0 would make the limit position 100.0, placing zero at the midpoint.

Note

This parameter directly sets the coordinate value at the reference point (negated). It does not necessarily induce a separate move after the reference is found, that is done with the Axis::Home(bool) 'Move to Zero' parameter, which performs a distinct move after homing and offset application.

Parameters

offset

The value such that -offset will be the axis position (in UserUnits) assigned when the homing reference event occurs.

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

See also

Home(bool)

HomeMethodSet

Master-based homing diagrams.

Examples

axis-homing-master-based.cs.