CustomEtherCATHome.cpp

#include "rsi.h"                                    // Import our RapidCode Library. 

using namespace RSI::RapidCode;

// user defined options
const int AXIS_NUMBER = 1;        // which axis?
const int NETWORK_INPUT_INDEX = 22;        // which network PDO input?
const int HOME_BIT_INDEX = 0;        // home input is which bit index?  (0-based)

const int VELOCITY = 80000;
const int ACCELERATION = 600000;
const int DECELERATION = 600000;



void PrintRapidCodeErrors(RapidCodeObject *rsiClass)
{
    RsiError *err;
    bool hasErrors = false;

    while (rsiClass->ErrorLogCountGet() > 0)
    {
        err = rsiClass->ErrorLogGet();
        printf("%s\n", err->text);
        hasErrors = true;
    }
    if (hasErrors)
        exit(1);
}


void customEtherCATHomeMain()
{

    uint64 networkAddress;
    char* inputName;



    // create MotionController class
    MotionController *controller = MotionController::CreateFromSoftware();
    PrintRapidCodeErrors(controller);

    // create Axis class  
    Axis *axis = controller->AxisGet(AXIS_NUMBER);
    PrintRapidCodeErrors(axis);


    try
    {
        axis->Abort();
        axis->ClearFaults();
        axis->AmpEnableSet(true);

        if (axis->StateGet() != RSIState::RSIStateIDLE)
        {
            printf("Error, should be in IDLE state.\n");
            exit(1);
        }

        inputName = controller->NetworkInputNameGet(NETWORK_INPUT_INDEX);
        printf("Input name is %s \n", inputName);
        networkAddress = controller->NetworkInputAddressGet(NETWORK_INPUT_INDEX);

        axis->HomeLimitCustomConfigSet(networkAddress, HOME_BIT_INDEX);



        axis->HomeActionSet(RSIActionSTOP);
        axis->HomeMethodSet(RSIHomeMethod::RSIHomeMethodRISING_HOME);
        axis->HomeVelocitySet(VELOCITY);
        axis->HomeSlowVelocitySet(VELOCITY);
        axis->HomeAccelerationSet(ACCELERATION);
        axis->HomeDecelerationSet(ACCELERATION);
        axis->HomeOffsetSet(0.0);
        axis->Home();

        if (axis->HomeStateGet() == true)
        {
            printf(" Homing successful\n");
        }
        axis->ClearFaults();

    }

    catch (RsiError const& err)
    {
        printf("\n%s\n", err.text);
    }
    controller->Delete();                                   // Delete the controller as the program exits to ensure memory is deallocated in the correct order.
    system("pause");                                        // Allow time to read Console.
}