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

Home Button: Enables the motor and begins executing the selected homing method. Before clicking the home button, make sure you complete the following:

  1. Define a clear Safety Zone

  2. Make sure that the motion parameter values and user units under the motion and tuning tab are configured properly.

  3. Set the hardware pos/neg limit actions to STOP under the limits and actions tab.

  4. 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)

Improved DS402 Implementation (100-137)
Old DS402 Implementation (0-37)
Improved DS402 Implementation (100-137)

(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

Old DS402 Implementation (0-37)

Value: 0 - No Homing. (Default Setting)

Value: 1 and 2 - Homing with the negative/positive limit switch and index pulse.

Value: 3 and 4 - Homing on the positive home switch and index pulse

Value: 5 and 6 - Homing on the negative home switch and index pulse

Value: 7 and 8 - Homing with the home switch input signal and index pulse starting in the positive direction.

Value: 9 and 10 - Homing with the home switch input signal and index pulse starting in the positive direction.

Value: 11 and 12 - Homing with the home switch input signal and index pulse starting in the negative direction.

Value: 13 and 14 - Homing with the home switch input signal and index pulse starting in the negative direction.

Value: 17 and 18- Homing with the negative/positive limit switch.

Value: 19 - Homing on the positive home switch .

Value: 21 - Homing on the negative home switch .

Value: 23 - Homing with the home switch input signal starting in the positive direction.

Value: 25 - Homing with the home switch input signal starting in the positive direction.

Value: 27 - Homing with the home switch input signal starting in the negative direction.

Value: 29 - Homing with the home switch input signal starting in the negative direction.

Value: 33 and 34 - Homing on the positive/negative index pulse of the current position.

Value: 35 - Homing with the current position.

Value: 36 and 37 - Homing on the negative/positive hard limit.

Master Based Homing Sample App (C#)