HomingWithAKDdrive.cs

using RSI.RapidCode.dotNET;         // Import our RapidCode Library.
using RSI.RapidCode.dotNET.Enums;
using System;

namespace SampleAppsCS
{
    class HomingWithAKDdrive
    {
        static void Main(string[] args)
        {
            // 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)

            // Initialize RapidCode Objects
            MotionController controller = MotionController.CreateFromSoftware(/*@"C:\RSI\X.X.X\"*/);    // Insert the path location of the RMP.rta (usually the RapidSetup folder) 
            SampleAppsCS.HelperFunctions.CheckErrors(controller);                                   // [Helper Function] Check that the controller has been initialize correctly.
            SampleAppsCS.HelperFunctions.StartTheNetwork(controller);                               // [Helper Function] Initialize the network.            
            //controller.AxisCountSet(1);                                                           // Uncomment if using Phantom Axes.
            Axis axis = controller.AxisGet(AXIS_NUMBER);                                            // Initialize Axis Class. (Use RapidSetup Tool to see what is your axis number)
            SampleAppsCS.HelperFunctions.CheckErrors(axis);                                         // [Helper Function] Check that the axis has been initialize correctly.

            try
            {
                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.
                System.Threading.Thread.Sleep(1000);                                            // 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;

                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.
                }

                Console.WriteLine("Axis homed.");

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

            }
            catch (Exception e)
            {
                Console.WriteLine(e.Message);
            }
            Console.WriteLine("\nPress Any Key To Exit");                                         // Allow time to read Console.
            Console.ReadKey();
        }
    }
}