RMP Motion Controller
10.5.2
The RMP Motion Controller APIs
MotionController
NetworkNode
Axis
MultiAxis
IOPoint
Cartesian
RsiError
Contact
Support
RMP
◆
HomeActionSet()
void HomeActionSet
(
RSIAction
action
)
Description:
HomeActionSet Sets the action that will occur when the Home Limit triggers.
Warning
This is NOT the action that occurs during master based Homing.
Parameters
action
Action taken on Home trigger. A
RSIAction
value.
Note:
Available Actions are
Abort()
,
EStop()
,
Stop()
, None,
EStopAbort()
, and
EStopModify()
Remarks
This function is also available in
RapidSequencer
.
Part of the
Limits and Action Configuration
method group.
Sample Code:
Axis: Homing
axis.
HardwareNegLimitActionSet
(
RSIAction
.RSIActionSTOP);
// Neg Limit action set to STOP.
axis.
HomeMethodSet
(
RSIHomeMethod
.RSIHomeMethodImprovedFALLING_HOME_NEGATIVE_START_POSITIVE_MOMENTUM);
// Set the method to be used for homing.
axis.
HomeVelocitySet
(Constants.VELOCITY);
// Set the home velocity.
axis.
HomeSlowVelocitySet
(Constants.VELOCITY / 10);
// Set the slow home velocity. (used for final move, if necessary)
axis.
HomeAccelerationSet
(Constants.ACCELERATION);
// Set the acceleration used for homing.
axis.
HomeDecelerationSet
(Constants.DECELERATION);
// Set the deceleration used for homing.
axis.
HomeOffsetSet
(0.5);
// HomeOffsetSet sets the position offset from the home (zero) position.
axis.
Home
();
// Execute the homing routine.
if
(axis.
HomeStateGet
() ==
true
)
// HomeStateGet returns true if the Axis is homed.
{
Console.WriteLine(
"Homing successful\n"
);
}
axis.
ClearFaults
();
// Clear faults created by homing.
axis.
AmpEnableSet
(
false
);
// Disable the motor.
RapidSetup:
Go to axis screen->Limits & Actions. In image below, HomeActionSet sets the action type shown in the Home Fault box. It is currently set to STOP.
See also
HomeActionGet
HomeBehaviorSet
Examples
HelperFunctionsCpp.h
, and
Homing.cs
.
RSI
RapidCode
Axis
Generated by
1.10.0