HomeCustomConfigSet and Various Homing Methods

RapidCode API
1

Will the I/O (or generally, bit in memory) work for any homing method that involves a limit or home switch?

Consider these homing methods defined in the API.

NEGATIVE_LIMIT_THEN_RIGHT_INDEX = 1
POSITIVE_LIMIT_THEN_LEFT_INDEX = 2
RISING_HOME_THEN_LEFT_INDEX = 3
RISING_HOME_THEN_RIGHT_INDEX = 4
FALLING_HOME_THEN_RIGHT_INDEX = 5
FALLING_HOME_THEN_LEFT_INDEX = 6
RISING_HOME_THEN_LEFT_INDEX_POSITIVE_START = 7
RISING_HOME_THEN_RIGHT_INDEX_POSITIVE_START = 8
FALLING_HOME_THEN_LEFT_INDEX_POSITIVE_START = 9
FALLING_HOME_THEN_RIGHT_INDEX_POSITIVE_START = 10
FALLING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START = 11
FALLING_HOME_THEN_LEFT_INDEX_NEGATIVE_START = 12
RISING_HOME_THEN_RIGHT_INDEX_NEGATIVE_START = 13
RISING_HOME_THEN_LEFT_INDEX_NEGATIVE_START = 14
NEGATIVE_LIMIT = 17
POSITIVE_LIMIT = 18
RISING_HOME = 19
POSITIVE_HOME_1 = 20
FALLING_HOME = 21
NEGATIVE_HOME_1 = 22
RISING_HOME_POSITIVE_START = 23
RISING_HOME_FROM_NEGATIVE_SIDE_POSITIVE_START = 24
FALLING_HOME_POSITIVE_START = 25
RISING_HOME_FROM_POSITIVE_SIDE_POSITIVE_START = 26
FALLING_HOME_NEGATIVE_START = 27
RISING_HOME_FROM_NEGATIVE_SIDE_NEGATIVE_START = 28
RISING_HOME_NEGATIVE_START = 29
RISING_HOME_FROM_POSITIVE_SIDE_NEGATIVE_START = 30

Will all these work with the custom config set (as opposed to the dedicated, drive-only, I/O defined in EtherCATNodeInfo.xml)?

2

@todd_mm

HomeLimitCustomConfigSet() would allow you to assign any IO bit as the home limit, but you are still limited to the existing Dedicated Limits for Positive and Negative Limits. You’ve got some control over where these are using EtherCATNodeInfo.xml and the IO block. It is limited to just that Node’s IO strings though.

So it will allow you to change the HOME signal source in any of the above functions.

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