Class PMAxisHome

Defined in File PMMotionApi.h

Nested Relationships

Nested Types

Class PMAxisHome::HomeCommand

Class Documentation

class PMAxisHome

This class contains HM mode homing functions for PM motion.

Public Functions

inline PMAxisHome(PMMotion *f)

bool IsDeviceValid()

WMX3APIFUNC StartHome(int axis)

Start HM mode homing.

This function searches for the home position of the axis.

Remark

The home profile must be first set with the SetHomeProfile function.

Parameters:: axis – [in] The axis to start homing.

WMX3APIFUNC StartHome(HomeCommand *pHomeCommand)

Start HM mode homing.

This function searches for the home position of the axis. The home command parameters are specified as a function argument.

Remark

For EtherCAT

When using EtherCAT, specify the homing method in HomeCommand::method. Object 0x6098 will be set to this value. Refer to the documentation of the servo drive for more information regarding the homing methods.

Parameters:: pHomeCommand – [in] A pointer to an object of the HomeCommand class that contains the parameters of the home command.

WMX3APIFUNC StartHome(unsigned int numCommands, HomeCommand *pHomeCommand)

Start HM mode homing for multiple axes.

This function is an overloaded function of StartHome that starts the homing procedure for multiple axes.

Remark

Parameters:

numCommands – [in] The number of home commands. Each command controls a single axis.
pHomeCommand – [in] A pointer to an array of objects of the HomeCommand class that contain the parameters of the home commands. The number of elements in the array must equal numCommands.

WMX3APIFUNC Continue(int axis)

Resume HM mode homing for an axis that has been stopped.

This function resumes the HM mode homing operation of an axis that has been stopped with the Cancel function.

Remark

Parameters:: axis – [in] The axis to resume homing.

WMX3APIFUNC Continue(AxisSelection *pAxisSelection)

Resume HM mode homing for multiple axes that have been stopped.

This function is an overloaded function of Continue that resumes the stopped HM mode homing procedure for multiple axes.

Remark

Parameters:: pAxisSelection – [in] A pointer to an AxisSelection class object that specifies which axes to resume homing.

WMX3APIFUNC Cancel(int axis)

Stop HM mode homing.

This function stops the HM mode homing operation that has been started with the StartHome function.

Remark

For EtherCAT

This function sends a halt signal to the servo. PP, HM, PV, and TQ mode motion will be halted.

Parameters:: axis – [in] The axis to stop homing.

WMX3APIFUNC Cancel(AxisSelection *pAxisSelection)

Stop HM mode homing for multiple axes.

This function is an overloaded function of Cancel that stops the HM mode homing procedure for multiple axes.

Remark

Parameters:: pAxisSelection – [in] A pointer to an AxisSelection class object that specifies which axes to stop homing.

Public Members

PMMotion *pmApi

class HomeCommand

This class contains data for a home command.

Public Functions

HomeCommand()

HomeCommand(int axis, unsigned char method, long speedForSwitch, long speedForZero, long acc, long homeOffset = 0)

Public Members

unsigned char method: The homing method.

int axis: The axis to execute homing.

long speedForSwitch: The velocity when searching for the switch, in units of pulses per second.

long speedForZero: The velocity when searching for the zero, in units of pulses per second.

long acc: The acceleration for homing, in units of pulses per second^2.

long homeOffset: The home offset.