Homing

The Homing is used to configure the homing type of an axis.

Example

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<Controller Name="Arcas 5EG-0">
  <Template Name="PlantSecondOrderMechanicalTemplate" TemplateType="ProcessingBlock">
    <Updatable Name="Updatable">
      <FilePath>C:\your\path\to\PlantSecondOrderMechanical-windows-x86_64.bin</FilePath>
    </Updatable>
  </Template>

  <AxisControl Name="X" Template="LogicalAxisControlStandard3rdOrderTemplate">
    <ProcessingBlock Name="Plant" Template="PlantSecondOrderMechanicalTemplate"/>
    <Homing Name="Homing" Method="LimitSwitchA" Timeout="17.0">
      <Signal Name="HomeDirection">Positive</Signal>
      <Signal Name="InitialVelocity">0.5</Signal>
      <Signal Name="HomeVelocity">0.2</Signal>

      <Input Name="LimitSwitch" Source="X/Plant/PositiveLimitSwitch"/>
      <Input Name="IndexPulse" Source="X/Plant/IndexPulse"/>
      <Input Name="PositionSensor" Source="X/Plant/Position"/>
    </Homing>
  </AxisControl>
</Controller>

  • Homing can only be configured when in the Idle state.

  • Invalid timeout values are NaN and Inf.

XML schema

Complex type HomingType
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<xs:complexType name="HomingType">
  <xs:choice minOccurs="0" maxOccurs="unbounded">
    <xs:element name="Signal" type="SignalType"/>
    <xs:element name="StateMachine" type="StateMachineType"/>
    <xs:element name="Input" type="InputType"/>
    <xs:element name="EventResponse" type="EventResponseType"/>
    <xs:element name="Variant" type="HomingVariantType"/>
    <xs:element name="NamedMutation" type="NamedMutationType"/>
  </xs:choice>
  <xs:attribute name="Name" type="xs:string" use="optional"/>
  <xs:attribute name="Method" type="xs:string"/>
  <xs:attribute name="Timeout" type="xs:string"/>
</xs:complexType>

Attribute

Description

Name

Used to define a name for a homing block.

Method

Alignment methods. Acceptable methods are: None, AbsolutePosition, AbsoluteOffset, AbsoluteOffset, IndexPulse, LimitSwitchA - LimitSwitchC, AreaSwitchA - AreaSwitchF, EndStopA and EndStopB.

Timeout

Limits the homing procedure time (s).
Complex type HomingVariantType
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<xs:complexType name="HomingVariantType">
  <xs:complexContent>
    <xs:extension base="BaseVariantType">
      <xs:choice minOccurs="0" maxOccurs="unbounded">
        <xs:element name="Signal" type="SignalType"/>
        <xs:element name="StateMachine" type="StateMachineType"/>
        <xs:element name="Input" type="InputType"/>
        <xs:element name="EventResponse" type="EventResponseType"/>
        <xs:element name="Variant" type="HomingVariantType"/>
        <xs:element name="NamedMutation" type="NamedMutationType"/>
      </xs:choice>
    </xs:extension>
  </xs:complexContent>
</xs:complexType>