I want to home to a network input. I’ve configured the homing parameters, similar to customEtherCATHome.cpp. The triggering I/O is coming from a Beckhoff DI8.
When I initiate the homing sequence, it travels a short distance, then throws an exception:
Error during homing: RSI_AXIS_HOME_FAILED_TO_REACH_DESIRED_STATE_OF_SWITCH (Error 1000000014) (RSI::RapidCode::Impl::Axis::HomeMoveToFromSwitch) (Object 0) (File …..\source\axis.cpp) (Line 8217) (Version 8.1.3 for 04.04.02.RMP)
I adapter customEtherCATHome.cpp for my particular axis, network input and see the same behavior.
I can trigger the input, but it errors out before I do.
This sounds like it could be related to HomeDistanceTravel, but I haven’t configured any. Is there a default? Is there a way to get the configured value? Is there a way to explicitly clear the value, so as not to use it?
Also, what is the state/source of the Axis when you get the exception? If another input (not the home) is causing at STOP action, that could be the problem.
Is there a way to reset the HomeTravelDistance value? After changing it for a test, I now can’t “unconfigure” it, so it’s staying large. I tried restarting the INtime node, but it seems to have retained whatever value/state was last there.
Is it writing to an SDO on the drive? Do I need to power cycle the drive to clear it? (I was hesitant to do this because of the other things that will lose power if I cycle the drive.)
The HomeTravelDistance is only an internal Axis class variable - it is not written to RMP memory. The default value is 0 and the Max Travel should only be evaluated if HomeTravelDistance is > 0. The home logging should give us more detail on if/how HomeTravelDistance is being used.