When I observe positions and velocities for an axis during a homing operation (method RSIHomeMethodImprovedPOSITIVE_HOME_NEGATIVE_MOMENTUM), it looks as though it’s not using the acceleration/deceleration parameters I set before starting the operation.
I checked the homing docs, and couldn’t find details about the stop for stage 1. Is it an estop or something similar or should it try to use the decel parameter?
The question I had in my head and didn’t clearly ask was about other decelerations, like at the end of phase 2 (back-off the switch) or the other phases. Are those stop-time based or “regular” decelerations?
At default, those are all stop time-based.
However, you can also configure the stop behavior yourself: HomeBehaviorSet() See this diagram for what parameter each method for stoping uses and if it is based on the rate of change or duration.