HomingWithAKDdrive.cpp

#include "rsi.h" // Import our RapidCode Library. 
#include "HelperFunctions.h"                        // Import our SampleApp helper functions. 
#include <thread>                                   // std::this_thread::sleep_for

void HomingWithAKDdriveMain()
{
    using namespace RSI::RapidCode;

    // Constants
    const int AXIS_NUMBER = 0;                      // Specify which axis/motor to control.

    const int modeOfOpIndex = 0x6060;               // Mode of Operation (DS402 Standard)
    const int modeOfOpSubindex = 0x0;               // Subindex
    const int modeOfOpByteSize = 1;                 // INTEGER8 (1 byte)
    const int modeOfOpValueToHOME = 6;              // Hex value to determine Mode (6 = Homing mode)
    const int modeOfOpValueToDEFAULT = 8;           // Hex value to determine Mode (8 = Cyclic synchronous position mode)

    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->ErrorLimitActionSet(RSIAction::RSIActionNONE);                              // Position Error must be disabled for drive based homing.

        // 1. READY DRIVE
        axis->NetworkNode->ServiceChannelWrite(modeOfOpIndex, modeOfOpSubindex, modeOfOpByteSize, modeOfOpValueToHOME);               // Mode of Operation (Homing Mode = 6)
        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; active in opmode 2 (position) only. MODE1 = Find limit input
        axis->NetworkNode->AKDASCIICommand("HOME.V 20");                                  // Sets homing velocity; active in opmode 2 (position) only.
        axis->NetworkNode->AKDASCIICommand("HOME.ACC 200");                               // Sets homing acceleration; active in opmode 2 (position) only.
        axis->NetworkNode->AKDASCIICommand("HOME.DEC 200");                               // Sets homing deceleration; active in opmode 2 (position) only.
        axis->NetworkNode->AKDASCIICommand("HOME.DIR 0");                                 // Sets homing direction; active in opmode 2 (position) only. (0 = negative | 1 = positive)
        axis->NetworkNode->AKDASCIICommand("HOME.P 0");                                   // Sets home position; active in opmode 2 (position) only.
        axis->NetworkNode->AKDASCIICommand("HOME.DIST 0");                                // Sets homing distance; active in opmode 2 (position) only.
        axis->NetworkNode->AKDASCIICommand("HOME.MAXDIST 0");                             // Sets the maximum distance the motor is allowed to move during the homing routine. (Disabled when value = 0)
        axis->NetworkNode->AKDASCIICommand("HOME.IPEAK");                                 // Sets the current limit during homing procedure to a mechanical stop; active in opmode 2 (position) only.

        // 4. READY AXIS
        axis->Abort();                                                                    // Disable axis->
        axis->ClearFaults();                                                              // Clear any faults.
        axis->AmpEnableSet(true);                                                         // Enable the axis->
        std::this_thread::sleep_for(std::chrono::seconds(1));                             // Allow time for amp enable

        // 5. START HOMING
        axis->NetworkNode->AKDASCIICommand("HOME.MOVE");                                  // Starts a homing procedure; active in opmode 2 (position) only.
        printf("\nHOME.MOVE");

        // 6. CHECK IF HOMING IS DONE
        uint16_t statusWordValue;
        int isHomedvalue = 0;

        while (isHomedvalue != 1)                                                         // When isHomedValue = 1, homing has finished.
        {
            statusWordValue = axis->NetworkNode->StatusWordGet(0);                        // Get the status word value (index 0x6060).
            isHomedvalue = statusWordValue >> 12;                                         // Get the 12th bit only. This bit tells us homing is done when it goes HIGH.
        }
        printf("\nAxis homed.");

        // 7. CLEAN UP
        axis->Abort();                                                                                                               // Disable the axis->
        axis->NetworkNode->ServiceChannelWrite(modeOfOpIndex, modeOfOpSubindex, modeOfOpByteSize, modeOfOpValueToDEFAULT);           // Mode of Operation (Homing Mode = 6)

    }
    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.
}