From RSI - Robotic Systems Integration - SynqNet Systems
Explain our naming schema
Sample Homing Routine discussed in detail
All the methods drawn in our documentation are a simplified version of a complex path which consists of many positions captures at various points which the user does not have to worry about. However we have created detailed information (below) for users who are curious to understand and verify the sequence of our homing methods.
We will discuss motion of path C in detail. Figure above is a detailed drawing of path C.
- Axis starts to move in the positive direction looking for either falling egde of Home switch or Positive Limit switch (1).
- When axis hits the Positive Limit switch, controller commands axis to stop.
- Now axis starts motion in the negative direction (2) ready to capture the position when it hits the rising edge of the Home switch (3).
- When it captures the position, axis is stopped. When stopping it has moved some distance away from the Rising Home trigger (4). *Therefore motion is commanded to move axis back to the captured position (rising edge of the Home switch) shown by the Red circle.
- Sitting at the rising edge of the Home switch (5), axis moves in the negative direction ready to capture position of the first Index Pulse (6).
- When Index Pulse triggers, axis captures position at that point and starts to stop axis.
- However axis has moved some distance away from the Index Pulse trigger (7).
- So the axis returns to the captured position and finally stops at it's Index Pulse(8).
- The Axis is now successfully Homed.
Homing Methods
Method 1 - Travel to the Negative Limit then Right Index
Method 2 : Travel to the Positive Limit then Left Index
Method 3 : Travel to the Rising Home then Left Index
Note: This Homing Method should only be used where the Home Switch stays active past a certain point.
Method 4 : Travel to the Rising Home then Left Index
Note: This Homing Method should only be used where the Home Switch stays active past a certain point.
Method 5 : Travel to the Falling Home then Right Index
Note: This Homing Method should only be used where the Home Switch stays active before a certain point.
Method 6 : Travel to the Falling Home then Left Index
Note: This Homing Method should only be used where the Home Switch stays active before a certain point.
Method 7 : Travel to the Rising Home then Left Index using a Positive starting Motion
Method 8 : Travel to the Rising Home then Right Index using a Positive starting Motion
Method 9 : Travel to the Falling Home then Left Index using a Positive starting Motion
Method 10 : Travel to the Falling Home then Right Index using a Positive starting Motion
Method 11 : Travel to the Falling Home then Right Index using a Negative starting Motion
Method 12 : Travel to the Falling Home then Left Index using a Negative starting Motion
Method 13 : Travel to the Rising Home then Right Index using a Negative starting Motion
Method 14 : Travel to the Rising Home then Left Index using a Negative starting Motion
Method 17 : Home to the Negative Limit
Method 18 : Home to the Positive Limit
Method 19 : Travel to the Rising Home
Method 21 : Falling Home
Method 23 : Travel to the Rising Home using a Positive starting Motion
Method 25 : Travel to the Falling Home using a Positive starting Motion
Method 27 : Travel to the Falling Home using a Negative starting Motion
Method 29 : Travel to the Falling Home using a Negative starting Motion
Sample Applications
- home1.zpp - uses homing routine
- custom_home.cpp
Note
home1.cpp includes an example use of a RapidCode homing fuction. For additional information or questions, contact RSI.