RMP Motion Controller
10.5.2
The RMP Motion Controller APIs
MotionController
NetworkNode
Axis
MultiAxis
IOPoint
Cartesian
RsiError
Contact
Support
RMP
◆
HomeJerkPercentSet()
[1/2]
void HomeJerkPercentSet
(
double
percent
)
Description:
HomeJerkPercentSet sets the jerk percent used for homing.
Parameters
percent
(0.0 to 100.0)
Remarks
This function is also available in
RapidSequencer
.
Part of the
Homing
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.
Note
HomeJerkPercentSet(double)
will set Jerk for all stages to support legacy customers.
See also
Home
Click
here
for detailed Home Method diagrams
RSI
RapidCode
Axis
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