Home() [1/2]

void Home ( )

pure virtual

Execute the homing routine.

Description:

Home executes the homing routine as configured with the other homing methods. At the completion of finding the index / marker pulse, or the desired switch, the Axis will set the Home Offset, and then move to the zero position.

If you don't want the Axis to move to zero after homing, use the overloaded method and set "moveToZero" false.

Sample Code:

// Home the Axis.

axis->HomeActionSet(RSIActionSTOP);
axis->HomeMethodSet(RSIHomeMethodNEGATIVE_HOME_0);
axis->HomeVelocitySet(VELOCITY);
  axis->HomeSlowVelocitySet(VELOCITY * 0.1);
axis->HomeAccelerationSet(ACCELERATION);
axis->HomeDecelerationSet(ACCELERATION);
axis->HomeJerkPercentSet(JERK_PERCENT); // percentage of acceleration time to jerk
axis->HomeOffsetSet(0.0);
axis->Home();

Notes:

Be sure to set Home Action to RSIActionSTOP. Also set HW Positive/Negative Limit actions to STOP if homing with limit switches.

See also

HomeMethodSet, HomeOffsetSet, HomeVelocitySet, HomeAccelerationSet, HomeDecelerationSet, HomeActionSet

Click here for detailed Home Method diagrams

Examples

CustomEtherCATHome.cpp, Home.cpp, HomeToNegativeLimit.cpp, and HomeToNegativeLimit.cs.