What is Gantry Homing
When homing two or more synchronized axes, the gantry homing procedure is executed. With the default home parameters, the master axis will execute normal homing and the slave axes will simply follow. However, by setting home parameters appropriately, the slave axes will be able to search for their own home positions and eliminate skew between the master and slave axes.
See Synchronization for additional information regarding synchronized axes.
To start gantry homing, call the StartHome function passing the master axis.
During gantry homing, most home parameters (including the Home Type) are taken from the master axis and not any of the slave axes. One exception is the Home Shift Distance parameter, which can be specified individually for the master axis and each of the slave axes.
Home parameters that specifically affect gantry homing include the following:
When enabled, the homing procedures of Home Types that search for the home switch will search for the home switches of the slave axes in addition to the home switch of the master axis. |
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When enabled, the homing procedures of Home Types that search for the limit switch will search for the limit switches of the slave axes in addition to the limit switch of the master axis. |
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When enabled, the homing procedures of Home Types that search for the Z-pulse (index pulse) will search for the Z-pulses of the slave axes in addition to the Z-pulse of the master axis. |
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When enabled, the homing procedures of Home Types that search for the touch probe will search for the touch probes of the slave axes in addition to the touch probe of the master axis. |
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When enabled, the homing procedures of Home Types that search for the mechanical end will search for the mechanical ends of the slave axes in addition to the mechanical end of the master axis. |
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When enabled, the sync offsets between the master axis and the slave axes are never changed during the homing procedure. The gantry homing routine is fully executed, but the slave axes will ignore the home positions they found and instead follow the master axis to the master axis home position. This parameter is useful for finding the home position of the slave axis without breaking synchronization, as discussed in Sync Homing. |
Gantry Homing Error
If a slave axis becomes desynchronized during gantry homing, the error is handled as follows. Also see Desync Handling for information on desynchronization.
If the Master Desync Type parameter is set to a value other than NoAction, the desync action defined by this parameter is executed. The OperationState of the axis will change from Home to the operation state determined by the desync action.
If the Master Desync Type parameter is set to NoAction, the HomeState of the master axis will change to Cancel, and the master axis will decelerate to a stop at the deceleration set by the Homing Velocity Fast Dec parameter. After the axis stops, the OperationState of the axis will change from Home to Idle.
Gantry Homing Example
See the following page for an example of a gantry homing procedure.