IMotion.HomeAxis method

Commands the axis to perform the "search home" sequence. The Position input is used to set the absolute position when an index signal is detected. This method completes at Standstill if it was started from Standstill.

Namespace: IntervalZero.KINGSTAR.Base.Api

Assembly: IntervalZero.KINGSTAR.Base.Api (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

KsCommandStatus HomeAxis(
       int Index,
       double Position,
       double Velocity,
       double EndVelocity,
       double Acceleration,
       double Deceleration,
       double Jerk,
       McDirection Direction,
       McHomingMode HomingMode
)

Function HomeAxis(
       Index As Integer,
       Position As Double,
       Velocity As Double,
       EndVelocity As Double,
       Acceleration As Double,
       Deceleration As Double,
       Jerk As Double,
       Direction As McDirection,
       HomingMode As McHomingMode
) As KsCommandStatus

Parameters

Index [in]

Type: int

The index of an axis. Indexes are zero based. Aliases affect this parameter.

Position [in]

Type: double

Sets an absolute position when the index signal is detected. [unit]

Velocity [in]

Type: double

The start velocity of the homing move.

EndVelocity [in]

Type: double

The end velocity of the homing move. The usage depends on the homing mode.

Acceleration [in]

Type: double

A value for the acceleration.

Deceleration [in]

Type: double

A value for the deceleration.

Jerk [in]

Type: double

A value for the jerk.

Direction [in]

Type: McDirection

The direction the axis moves to home. Use the type 0, 2, or 3 in McDirection.

HomingMode [in]

Type: McHomingMode

Selects a homing mode.

Return value

Type: KsCommandStatus

Returns the KsCommandStatus class.

Remarks

When using an incremental encoder, the motor's position is unknown when the motor is turned on. A known reference position must be searched to know the motor position. This is called homing.
In the homingSlave mode, the mcSlaveHomingMode and mcSlaveHomeOffset should be set first using the SetAxisParameter method.

Examples

N/A