Drive Based AKD Homing sample application.
Drive based homing is one of many methods that exist to home a servo motor. RSI encourages this homing method over all others because it avoids network latencies. Since the AKD drive does not follow the DS402 standard completely, we created this sample application to help you home your servo motor with an AKD drive. This sample application is meant to be used by AKD drives only.
- Precondition
- This sample code presumes that the user has set the tuning paramters(PID, PIV, etc.) prior to running this program so that the motor can rotate in a stable manner.
- Warning
- This is a sample program to assist in the integration of your motion controller with your application. It may not contain all of the logic and safety features that your application requires.
- Copyright
- Copyright © 1998-2019 by Robotic Systems Integration, Inc. All rights reserved. This software contains proprietary and confidential information of Robotic Systems Integration, Inc. (RSI) and its suppliers. Except as may be set forth in the license agreement under which this software is supplied, disclosure, reproduction, or use with controls other than those provided by RSI or suppliers for RSI is strictly prohibited without the prior express written consent of Robotic Systems Integration.
using RSI.RapidCode.dotNET;
using RSI.RapidCode.dotNET.Enums;
using System;
{
class HomingWithAKDdrive
{
static void Main(string[] args)
{
const int AXIS_NUMBER = 0;
const int modeOfOpIndex = 0x6060;
const int modeOfOpSubindex = 0x0;
const int modeOfOpByteSize = 1;
const int modeOfOpValueToHOME = 6;
const int modeOfOpValueToDEFAULT = 8;
try
{
axis.NetworkNode.
ServiceChannelWrite(modeOfOpIndex, modeOfOpSubindex, modeOfOpByteSize, modeOfOpValueToHOME);
System.Threading.Thread.Sleep(1000);
Console.WriteLine("HOME.MOVE");
UInt16 statusWordValue;
int isHomedvalue = 0;
while (isHomedvalue != 1)
{
isHomedvalue = statusWordValue >> 12;
}
Console.WriteLine("Axis homed.");
axis.NetworkNode.
ServiceChannelWrite(modeOfOpIndex, modeOfOpSubindex, modeOfOpByteSize, modeOfOpValueToDEFAULT);
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
Console.WriteLine("\nPress Any Key To Exit");
Console.ReadKey();
}
}
}