Method EndStop¶
This method uses an user-configurable end stop signal, for example the Event signal of a ‘tracking error limit’ or ‘control output saturation’ exceeded event. Optionally an index pulse can be configured. Required configuration for method EndStop describes the inputs that are required to have a connected signal for this method to operate. If the end stop signal is active, the direction is reversed and the end stop signal should become inactive again. If an index pulse is configured, the search for the rising edge of the index pulse starts after the end stop signal becomes inactive. The position of the end stop is stored in signal TriggerPosition for position B. The UserOffset signal is used to modify the HomeOffset.
After the home position has been found, the HomeOffset is updated as follows:
HomeOffset = - HomePosition + UserOffset
Home pos |
Input name |
Signal |
---|---|---|
A |
EndStop |
Event signal representing end stop. |
B |
EndStop |
Event signal representing end stop. |
IndexPulse |
Actual signal of index pulse. |
Signals¶
The signals for this homing method are given in Homing signals for Method EndStop.
Name |
Data type |
R/W |
Description |
---|---|---|---|
HomeDirection |
Enum |
RW |
Direction of initial movement, see Homing directions for possible values. |
HomeVelocity |
Float |
RW |
Velocity used in state Homing for last move towards the desired home position. 0 \(\le\) HomeVelocity \(\le\) DemandVelocityLimit. The MaximumVelocity is used if set to 0. |
InitialVelocity |
Float |
RW |
Velocity used in state Homing for all moves except the final move towards the desired home position. 0 \(\le\) InitialVelocity \(\le\) DemandVelocityLimit. The MaximumVelocity is used if set to 0. |
TriggerPosition |
Double |
R |
Trigger position as stored during homing, relative to coordinate system after successful homing, used for method EndStopB. |
Run exceptions¶
The EndStop homing method can fail with the run exceptions given in Homing run exceptions for method EndStop.
Run exception |
Description |
---|---|
TimeoutException |
The configured timeout was exceeded. |
AbortedException |
The homing procedure was aborted due to one of the following reasons:
The exact abort reason is given by the exception message available via the RunException property on the Homing interface. |
OutOfResourcesException |
No commands available during homing procedure. |