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.