Method IndexPulse¶
This method uses only an index pulse and is shown in Method IndexPulse (for positive home direction). The home position is at the first index pulse found in the direction of movement. Required configuration for method IndexPulse describes the inputs that are required to have a connected signal for this method to operate. This method only uses the HomeVelocity, the InitialVelocity will be ignored. 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
Method IndexPulse (for positive home direction)¶
Home pos |
Input name |
Signal |
|---|---|---|
A |
IndexPulse |
Actual signal of index pulse. |
Signals¶
The signals for this homing method are given in Homing signals for method IndexPulse
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. |
Run exceptions¶
The IndexPulse homing method can fail with the run exceptions given in Homing run exceptions for method IndexPulse.
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. |