Enumerations

Home.HomeState

Enum HomeState
	Idle
	Homing
	Homed
	Cancelling
	Cancelled
	ErrorOccurred
	Timeout
End Enum

enum HomeState 
{
	Idle
	Homing
	Homed
	Cancelling
	Cancelled
	ErrorOccurred
	Timeout
}

The HomeState enumeration represents the current state of the home machine.

HomeState Enumeration	Description
Idle	No attempt to home has yet taken place.
Homing	The axis is currently homing.
Homed	The homing operation has succeeded. It is possible to reconfigure the Home object and/or re-home if necessary.
Cancelling	A request has been made to cancel the homing operation. The axis is currently in the process of carrying out the Home.CancelAction. When the action has successfully been carried out, the state will transition to Cancelled.
Cancelled	The homing operation has been cancelled. It is now possible to reconfigure the Home object and/or restart homing.
ErrorOccurred	An error has occurred in the homing operation. It is now possible to reconfigure the Home object and/or restart homing.
Timeout	The homing operation has timed out. It is now possible to reconfigure the Home object and/or restart homing.

Enum HomeMethod
	PositiveIndex
	NegativeIndex
	NegativeLimitThenPositiveIndex
	RisingHomeThenPositiveIndex
End Enum

enum HomeMethod 
{
	PositiveIndex
	NegativeIndex
	NegativeLimitThenPositiveIndex
	RisingHomeThenPositiveIndex
}

Direction Conventions

Diagram Type	Positive Direction	Negative Direction
Linear	Right	Left
Rotary	Clockwise	Counter-Clockwise

Symbols

	The starting point for homing.
	The end point for homing (The Home position).

PositiveIndex

PositiveIndex will home to the next index mark in the positive direction.

Negative Index

NegativeIndex will home to the next index mark in the negative direction.

NegativeLimitThenPositiveIndex

NegativeLimitThenPositiveIndex will travel to the negative hardware limit switch, and then travel in the positive direction to the next index mark.

RisingHomeThenPositiveIndex

RisingHomeThenPositiveIndex will travel to the home flag transition, and then travel in the positive direction to the next index mark.