AKDASCIICommand()

char * AKDASCIICommand

(

const char *const

command

)

Parameters

command

the command to send (for example, try "DRV.INFO")

Returns

the text response from the AKD drive Axis: Homing

 
      // 1. READY DRIVE
      axis.OperationModeSet(RSIOperationMode.RSIOperationModeHOMING_MODE); // Mode of Operation set to Homing Mode.
      axis.NetworkNode.AKDASCIICommand("DRV.OPMODE 2");                    // Sets the drive operation mode (0 - current | 1 = velocity | 2 = position).
      axis.NetworkNode.AKDASCIICommand("HOME.AUTOMOVE 0");                 // 0 = Disabled | 1 = Homing starts when drive is enabled.
 
      // Make sure you know your motor's position, velocity, and acceleration units before you send any values.                
 
      // 2. SET YOUR LIMIT SWITCHES
      axis.NetworkNode.AKDASCIICommand("DIN5.MODE 18"); // Sets the digital input modes.                        - DI5 is now our Positive Limit Switch.
      axis.NetworkNode.AKDASCIICommand("DIN5.INV 1");   // Sets the indicated polarity of a digital input mode. - DI5 is now active when Low.
      axis.NetworkNode.AKDASCIICommand("DIN6.MODE 19"); // Sets the digital input modes.                        - DI6 is now our Negative Limit Switch.
      axis.NetworkNode.AKDASCIICommand("DIN6.INV 1");   // Sets the indicated polarity of a digital input mode. - DI6 is now active when Low.
 
      // 3. CONFIGURE DRIVE HOMING PARAMETERS
      axis.NetworkNode.AKDASCIICommand("HOME.MODE 1");    // Selects the homing method. MODE1 = Find limit input
      axis.NetworkNode.AKDASCIICommand("HOME.V 20");
      axis.NetworkNode.AKDASCIICommand("HOME.ACC 200");
      axis.NetworkNode.AKDASCIICommand("HOME.DEC 200");
      axis.NetworkNode.AKDASCIICommand("HOME.DIR 0");     // Sets homing direction (0 = negative | 1 = positive)
      axis.NetworkNode.AKDASCIICommand("HOME.P 0");
      axis.NetworkNode.AKDASCIICommand("HOME.DIST 0");
      axis.NetworkNode.AKDASCIICommand("HOME.MAXDIST 0");
      axis.NetworkNode.AKDASCIICommand("HOME.IPEAK");
 
      // 4. READY AXIS
      axis.ErrorLimitActionSet(RSIAction.RSIActionNONE); //Set the action to none so we don't get a position error while the drive is in control.
      axis.Abort();                        // Disable axis.
      axis.ClearFaults();                  // Clear any faults.
      axis.AmpEnableSet(true);             // Enable the axis.
      System.Threading.Thread.Sleep(100);  // Allow time for amp enable
 
      // 5. START HOMING
      axis.NetworkNode.AKDASCIICommand("HOME.MOVE"); // Starts a homing procedure; active in opmode 2 (position) only.
      Console.WriteLine("HOME.MOVE");
 
      // 6. CHECK IF HOMING IS DONE
      UInt16 statusWordValue;
      int isHomedvalue = 0;
      int axisIndex = axis.NumberGet();
 
      while (isHomedvalue != 1) // When isHomedValue = 1, homing has finished.
      {
        statusWordValue = axis.NetworkNode.StatusWordGet(axisIndex);
        isHomedvalue = statusWordValue >> 12; // Get the 12th bit only. This bit tells us homing is done when it goes HIGH.
      }
 
      Console.WriteLine("Axis homed.");
 
      // 7. CLEAN UP
      axis.OriginPositionSet(0.0);//Set the origin to 0, otherwise repeated use will not result in Rapidcode reporting 0 at the found home position.
      axis.Abort(); // Disable the axis.
      axis.OperationModeSet(RSIOperationMode.RSIOperationModeINTERPOLATED_POSITION_MODE); // Mode of Operation Restore
      axis.ErrorLimitActionSet(RSIAction.RSIActionABORT);// Restore the position error action to whatever you want it to be.
 

Examples

Homing.cs.