The RMP Motion Controller APIs

◆ HomeSlowVelocityGet()

double HomeSlowVelocityGet ( )
Description:
HomeSlowVelocityGet gets the velocity used for final (Stage Three) homing. Moving from Edge to Index.
Returns
(double) velocity units/second.
Remarks
This function is also available in RapidSequencer.

Part of the Homing method group.

Sample Code:
MasterBasedHoming
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
Deprecated. Use HomeVelocityGet(RSIHomeStageSTAGE_THREE) instead.
RSI::RapidCode::RSIHomeMethod
RSIHomeMethod
Definition: rsienums.h:307
RSI::RapidCode::RSIAction
RSIAction
Action to perform on an Axis.
Definition: rsienums.h:1036