Master-Based Homing not completed in RapidSetup/RapidSetupX

RapidSetup Tool
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1

Hi community,

I would like to know more about Master-Based Homing behaviour in RapidSetup/RapidSetupX on the following:

The desired homing sequence is similar like Method 24 (Drive-Based Homing) and has been tested successfully (in RapidSetup & RapidCode) with the expected motion behaviour and correctly returns the Homing Completed signal:

  • However when testing using Master-Based Homing with its equivalent method (Method 124), the physical homing sequence appears to complete as expected but the homing completed signal was not attained in RapidSetup/RapidSetupX

The Homing Completed status was not attained and axis status remains in Moving even though the axis physically completed the homing sequence in RapidSetup/RapidSetupX for Master-Based homing

May I know what might be the cause for this or could I have possibly set up incorrectly or missed out on certain configuration for Master-Based homing in RapidSetup/RapidSetupX?

  • All stages velocities are set as the same

Your clarification is much appreciated. Thank you!

2

Hello Gregory, thanks for your question.

Completion of master-based homing should indeed be reflected in RapidSetup/RapidSetupX (or a call to HomeStateGet()). That you are seeing the expected homing sequence but not a completed status suggests that one of the homing moves, most likely the final stage, is failing to detect a completed move. This could happen for a couple of reasons, and some questions and diagnostics should help us narrow it down.

Questions

  1. Are you testing master-based homing primarily in RapidSetup, RapidSetupX, or equally between both?
  2. Do you have the “Move to Zero After Homing” option selected in RapidSetup? Or if using RapidCode, did you pass the default true to Axis::Home()?
  3. What is your “Home Offset” value?
  4. Does an ordinary absolute move commanded in the Motion tab complete?
  5. If you tested master-based homing immediately after drive-based homing, can you confirm that the drive mode of operation was restored from Homing to your regular operation mode (usually CSP)? This can be observed in the Configuration tab of RapidSetup or with a call to Axis::OperationModeGet().

Diagnostics

  1. In RapidSetup, navigate to the master-based homing, then enable the Log Homing option. Initiate homing, wait for the moment where it stalls as you described, then record the following information:

    • Home State field.
    • Home Stage field.
    • In the Homing Status box, do you see “Homing Finished”, “Homing Finished With Errors”, or neither?
    • The difference (if any) between the command and actual position of your axis.
    • The Log Homing option should have created the file RapidSetupHomeLogAxis<N>.txt (where <N> is the axis number) in RapidSetup’s working directory (likely your RMP folder). Record the last few lines of the file.

  2. Cancel the homing procedure and note how the above diagnostics have changed, if at all.

Note: Canceling may report a false HOMED status, but this should not be treated as a solution to your problem.

  1. If you have been using “Move to Zero After Homing”, you can also try unchecking that and re-running the homing procedure. This is just for testing purposes, as it will leave your axis in a different location than is needed.

Note: This will overwrite the aforementioned log file, so be sure you have recorded its contents.