HomeToNegativeLimit.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
void HomeToNegativeLimitMain()
{
    using namespace RSI::RapidCode;

    // constants
    const int AXIS_NUMBER = 0;             // Specify which axis/motor to control.
    const int USER_UNITS = 1048576;        // Specify your counts per unit / user units.           (the motor used in this sample app has 1048576 encoder pulses per revolution) 
    const int VELOCITY = 1;                // Specify your velocity.       -   units: Units/Sec    (it will do 1048576 counts/1 revolution every 1 second.)
    const int ACCELERATION = 10;           // Specify your acceleration.   -   units: Units/Sec^2
    const int DECELERATION = 10;           // Specify your deceleration.   -   units: Units/Sec^2

    char rmpPath[] = "C:\\RSI\\X.X.X\\";   // Insert the path location of the RMP.rta (usually the RapidSetup folder)
    // Initialize MotionController class.
    MotionController   *controller = MotionController::CreateFromSoftware(/*rmpPath*/);   // NOTICE: Uncomment "rmpPath" if project directory is different than rapid setup directory.
    SampleAppsCPP::HelperFunctions::CheckErrors(controller);                              // [Helper Function] Check that the axis has been initialize correctly. 

    try
    {
        SampleAppsCPP::HelperFunctions::StartTheNetwork(controller);           // [Helper Function] Initialize the network.

        Axis *axis = controller->AxisGet(AXIS_NUMBER);                         // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
        SampleAppsCPP::HelperFunctions::CheckErrors(axis);                     // [Helper Function] Check that the axis has been initialize correctly.

        axis->UserUnitsSet(USER_UNITS);                                        // Specify the counts per Unit.
        axis->ErrorLimitTriggerValueSet(1);                                    // Specify the position error limit trigger. (Learn more about this on our support page)
        axis->Abort();                                                         // If there is any motion happening, abort it.
        axis->ClearFaults();                                                   // Clear faults.>
        axis->AmpEnableSet(true);                                              // Enable the motor.
        axis->HardwareNegLimitActionSet(RSIAction::RSIActionSTOP);             // Neg Limit action set to STOP.
        axis->HomeMethodSet(RSIHomeMethod::RSIHomeMethodNEGATIVE_LIMIT);       // Set the method to be used for homing.                  
        axis->HomeVelocitySet(VELOCITY);                                       // Set the home velocity.
        axis->HomeSlowVelocitySet(VELOCITY / 10);                              // Set the slow home velocity. (used for final move, if necessary)
        axis->HomeAccelerationSet(ACCELERATION);                               // Set the acceleration used for homing.
        axis->HomeDecelerationSet(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.
        {
            printf("Homing successful\n");
        }

        axis->ClearFaults();                                                   // Clear faults created by homing.
        axis->AmpEnableSet(false);                                             // Disable the motor.
    }
    catch (RsiError const& err)
    {
        printf("%s\n", err.text);                                      // If there are any exceptions/issues this will be printed out.
    }
    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.
}