DS402 Master Based Homing
RapidSetup is an easy to use utility provided by us for configuration, homing, tuning, commanding motion, and troubleshooting.
Homing is the process of determining a consistent starting point. This allows for accurate motion to specific points in your work space.
We offer Drive Based or Master Based Homing.
We recommend Drive Based Homing or Custom Homing as Master Based Homing is subject to EtherCAT network latency.
Master Based DS402 Homing with RapidSetup
The only situation HomeDeceleration is used is if the maximum homing travel is exceeded and a switch is never hit. StopTimeSet() is used for the pos/neg limit switch deceleration.
Home Button: Enables the motor and begins executing the selected homing method. Before clicking the home button, make sure you complete the following:
Define a clear Safety Zone
Make sure that the motion parameter values and user units under the motion and tuning tab are configured properly.
Set the hardware pos/neg limit actions to STOP under the limits and actions tab.
Select a homing method
Cancel Button: Cancels the homing request and disables the motor.
Homing Method: Select the homing method that is best suited for your machine. See our Homing Methods topics page to view details of each method.
*Home Offset: After the homing limit is reached, the axis will move ahead or back the number of revolutions specified by Home Offset (e.g., if Home Offset is 10, the axis will move 10 rotations ahead, and if Home Offset is -5, the axis will move 5 rotations back).
Home State: Either “NOT HOMED” or “HOMED” indicating it has successfully completed the selected homing method.
Status Window: Displays messages warnings and errors related to homing.
Move to Zero after homing?: Check this box if you want to move to position 0 after homing. (*Scaled by User Units)
Master Based DS402 Homing Methods
WARNING:
RSI's Implementation of the DS402 homing routines is not an exact implementation of the standard. Some modification have been made to reduce final momentum. See the below diagrams for the exact behavior.
The axis will travel at a specific speed in each stage. You can set velocity for a stage using: HomeVelocitySet(stage, velocity) Or set all four stages to the same velocity using: HomeVelocitySet(velocity)
Homing Methods
Index Pulse methods are only available for AKD New projects should only use 100-137. Methods 0-37 remain for backwards compatibility.
These methods will trigger off of the Limits (STATUS BITS) and can be inverted in the motion controller.
(100) None (Default Setting)
(101) NegativeLimitSwitch RightIndex
(102) PositiveLimitSwitch LeftIndex
(103) PositiveHome LeftIndex
(104) PositiveHome RightIndex
(105) NegativeHome RightIndex
(106) NegativeHome LeftIndex
(107) RisingHome LeftIndex PositiveStart
(108) RisingHome RightIndex PositiveStart
(109) FallingHome LeftIndex PositiveStart
(110) FallingHome RightIndex PositiveStart
(111) FallingHome RightIndex NegativeStart
(112) FallingHome LeftIndex NegativeStart
(113) RisingHome RightIndex NegativeStart
(114) RisingHome LeftIndex NegativeStart
(117) NegativeLimitSwitch
(118) PositiveLimitSwitch
(119) PositiveHome NegativeMomentum
(120)PositiveHome PositiveMomentum
(121) NegativeHome PositiveMomentum
(122) NegativeHome NegativeMomentum
(123) RisingHome NegativeMomentum PositiveStart
(124) RisingHome PositiveMomentum PositiveStart
(125) FallingHome NegativeMomentum PositiveStart
(126) FallingHome PositiveMomentum PositiveStart
(127) FallingHome PositiveMomentum NegativeStart
(128) FallingHome NegativeMomentum NegativeStart
(129) RisingHome PositiveMomentum NegativeStart
(130) RisingHome NegativeMomentum NegativeStart
(133) Negative Index
(134) Positive Index
(135) Current Position
(136) Negative Hard Stop
(137) Positive Hard Stop
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