Utilize RapidSetup for master-based DS402 homing, which although subject to EtherCAT network latency, provides comprehensive control over homing methods, safety settings, and parameters for precise motion initialization.
RapidSetup is an easy to use utility provided by us for configuration, homing, tuning, commanding motion, and troubleshooting.
Homing is the process of determining a consistent starting point. This allows for accurate motion to specific points in your work space.
We offer Drive Based or Master Based Homing.
- Note
- We recommend Drive Based Homing or Custom Homing as Master Based Homing is subject to EtherCAT network latency.
🔹 Master Based DS402 Homing with RapidSetup
- Warning
- The only situation HomeDeceleration is used is if the maximum homing travel is exceeded and a switch is never hit. StopTimeSet is used for the pos/neg limit switch deceleration.
![Image](https://support.roboticsys.com/assets/MasterHome.PNG)
Home Button: Enables the motor and begins executing the selected homing method. Before clicking the home button, make sure you complete the following:
- Define a clear Safety Zone
- Make sure that the motion parameter values and user units under the motion and tuning tab are configured properly.
- Set the hardware pos/neg limit actions to STOP under the limits and actions tab.
- Select a homing method
Cancel Button: Cancels the homing request and disables the motor.
Homing Method: Select the homing method that is best suited for your machine.
_*Home Offset_: After the homing limit is reached, the axis will move ahead or back the number of revolutions specified by Home Offset (e.g., if Home Offset is 10, the axis will move 10 rotations ahead, and if Home Offset is -5, the axis will move 5 rotations back).
Home State: Either “NOT HOMED” or “HOMED” indicating it has successfully completed the selected homing method.
Status Window: Displays messages warnings and errors related to homing.
Move to Zero after homing?: Check this box if you want to move to position 0 after homing. (_*Scaled by User Units_)
🔹 Master Based DS402 Homing Methods
- Warning
- RSI's Implementation of the DS402 homing routines is not an exact implementation of the standard. Some modification have been made to reduce final momentum. See the below diagrams for the exact behavior.
![Image](https://support.roboticsys.com/assets/Key.png)
- Note
- The axis will travel at a specific speed in each stage. You can set velocity for a stage using: HomeVelocitySet(RSI::RapidCode::RSIHomeStage, double) Or set all four stages to the same velocity using: [HomeVelocitySet(velocity)](<HomeVelocitySet(double)>)
🔹 Homing Methods
- Warning
- Index Pulse methods are only available for AKD New projects should only use 100-137. Methods 0-37 remain for backwards compatibility.
- Note
- These methods will trigger off of the Limits (STATUS BITS) and can be inverted in the motion controller.
(100) None (Default Setting)
![Image](https://support.roboticsys.com/assets/DS402Homing 100.png)
(101) NegativeLimitSwitch RightIndex (102) PositiveLimitSwitch LeftIndex
![Image](https://support.roboticsys.com/assets/101.png)
(103) PositiveHome LeftIndex (104) PositiveHome RightIndex
![Image](https://support.roboticsys.com/assets/103.png)
(105) NegativeHome RightIndex (106) NegativeHome LeftIndex
![Image](https://support.roboticsys.com/assets/105.png)
(107) RisingHome LeftIndex PositiveStart (108) RisingHome RightIndex PositiveStart
![Image](https://support.roboticsys.com/assets/107.png)
(109) FallingHome LeftIndex PositiveStart (110) FallingHome RightIndex PositiveStart
![Image](https://support.roboticsys.com/assets/109.png)
(111) FallingHome RightIndex NegativeStart (112) FallingHome LeftIndex NegativeStart
![Image](https://support.roboticsys.com/assets/111.png)
(113) RisingHome RightIndex NegativeStart (114) RisingHome LeftIndex NegativeStart
![Image](https://support.roboticsys.com/assets/113.png)
(117) NegativeLimitSwitch (118) PositiveLimitSwitch
![Image](https://support.roboticsys.com/assets/117.png)
(119) PositiveHome NegativeMomentum (120)PositiveHome PositiveMomentum
![Image](https://support.roboticsys.com/assets/119.png)
(121) NegativeHome PositiveMomentum (122) NegativeHome NegativeMomentum
![Image](https://support.roboticsys.com/assets/121.png)
(123) RisingHome NegativeMomentum PositiveStart (124) RisingHome PositiveMomentum PositiveStart
![Image](https://support.roboticsys.com/assets/123.png)
(125) FallingHome NegativeMomentum PositiveStart (126) FallingHome PositiveMomentum PositiveStart
![Image](https://support.roboticsys.com/assets/125.png)
(127) FallingHome PositiveMomentum NegativeStart (128) FallingHome NegativeMomentum NegativeStart
![Image](https://support.roboticsys.com/assets/127.png)
(129) RisingHome PositiveMomentum NegativeStart (130) RisingHome NegativeMomentum NegativeStart
![Image](https://support.roboticsys.com/assets/129.png)
(133) Negative Index (134) Positive Index
![Image](https://support.roboticsys.com/assets/DS402Homing 133-134.png)
(135) Current Position
![Image](https://support.roboticsys.com/assets/DS402Homing 135 (2).png)
(136) Negative Hard Stop (137) Positive Hard Stop
![Image](https://support.roboticsys.com/assets/DS402Homing 136-137 (2).png)
🔹 Old DS402 Implementation (0-37)
- Note
- These methods will trigger off of the Switch (Dedicated I/O) and can be inverted in the controller. Some Drives may support inversion.
Value: 0 - No Homing. (Default Setting)
Value: 1 and 2 - Homing with the negative/positive limit switch and index pulse
![Image](https://support.roboticsys.com/assets/DS402Homing 1-2.png)
Value: 3 and 4 - Homing on the positive home switch and index pulse
![Image](https://support.roboticsys.com/assets/DS402Homing 3-4.png)
Value: 5 and 6 - Homing on the negative home switch and index pulse
![Image](https://support.roboticsys.com/assets/DS402Homing 5-6 (1).png)
Value: 7 and 8 - Homing with the home switch input signal and index pulse starting in the positive direction
![Image](https://support.roboticsys.com/assets/DS402Homing 7-8.png)
Value: 9 and 10 - Homing with the home switch input signal and index pulse starting in the positive direction
![Image](https://support.roboticsys.com/assets/DS402Homing 9-10 (1).png)
Value: 11 and 12 - Homing with the home switch input signal and index pulse starting in the negative direction
![Image](https://support.roboticsys.com/assets/DS402Homing 11-12.png)
Value: 13 and 14 - Homing with the home switch input signal and index pulse starting in the negative direction
![Image](https://support.roboticsys.com/assets/DS402Homing 13-14.png)
Value: 17 and 18 - Homing with the negative/positive limit switch
![Image](https://support.roboticsys.com/assets/DS402Homing 17-18.png)
Value: 19 - Homing on the positive home switch
![Image](https://support.roboticsys.com/assets/DS402Homing 19-20.png)
Value: 21 - Homing on the negative home switch
![Image](https://support.roboticsys.com/assets/DS402Homing 21-22.png)
Value: 23 - Homing with the home switch input signal starting in the positive direction
![Image](https://support.roboticsys.com/assets/DS402Homing 23-24.png)
Value: 25 - Homing with the home switch input signal starting in the positive direction
![Image](https://support.roboticsys.com/assets/DS402Homing 25-26.png)
Value: 27 - Homing with the home switch input signal starting in the negative direction
![Image](https://support.roboticsys.com/assets/DS402Homing 27-28.png)
Value: 29 - Homing with the home switch input signal starting in the negative direction
![Image](https://support.roboticsys.com/assets/DS402Homing 29-30.png)
Value: 33 and 34 - Homing on the positive/negative index pulse of the current position
![Image](https://support.roboticsys.com/assets/DS402Homing 33-34.png)
Value: 35 - Homing with the current position
![Image](https://support.roboticsys.com/assets/DS402Homing 35.png)
Value: 36 and 37 - Homing on the negative/positive hard limit
![Image](https://support.roboticsys.com/assets/DS402Homing 36-37.png)
📜 Sample Code
- C#
{
Console.WriteLine("Homing successful\n");
}