For Zmotion motion controllers, there are 2 homing methods. You can select “controller itself homing methods” or “drive homing methods”.

Note: to make both methods valid, drive PDO can’t be set as -1 in bus initialization basic program (Ecat_Init.bas file) , otherwise it doesn’t support bus drive homing because -1 means 6060 data dictionary is not included in PDO list (how to configure PDO, please check RTBasic – DRIVE_PROFILE command).

Zmotion provides +10 kinds of homing modes.

The main command is “ DATUM” (specific information can be known from RTBasic Programming Manual).

Corresponding C# Command: ZAux_Direct_Single_Datum

 --Example: mode 13--

It needs to set origin switch, position limit switch, homing speed (SPEED), and creeping speed (CREEP).

Under this mode, while homing, the axis  runs forward at the speed of SPEED. When met the position limit switch, it will  reversely find the origin. After that,  running inversely at the speed of CREEP, until  left the origin.

//read basic program customized variables -- bus initialization's total axes
zmcaux.ZAux_Direct_GetUserVar(g_handle, "Bus_TotalAxisnum", ref EcatAxisNum);
//read basic program customized variables -- bus initialization's bus starting axis No.
zmcaux.ZAux_Direct_GetUserVar(g_handle, "Bus_AxisStart", ref EcatStartAxisNum);
//read basic program customized variables -- bus initialization's initialization state
zmcaux.ZAux_Direct_GetUserVar(g_handle, "Bus_InitStatus", ref EcatInitStatus);

You also can use drive homing modes. Please check corresponding drive manual . Then select drive supported homing modes (data dictionary 6098), setting its parameters (homing high-speed, homing low-speed, etc.).

--Example: mode 19--

The  origin switch (HW) is  0 , it starts to do  homing forward at the configured homing high-speed SPEED (50units/s). After meeting  origin switch (HW) 1 ,  creeping inversely at the speed of homing low-speed CREEP (20units/s), until the  origin switch (HW) is  0 again, the machine stops, homing completes.

//configure controller homing parameters
private void Controllers_DatumPara_Button_Click(object sender, EventArgs e)
{
    if (g_handle == (IntPtr)0)
    {
        MessageBox.Show("Controller Unconnected!", "Note");
    }
    else
    {
        //set axis basic parameters, controller homing speed is SPEED
        AxisParaSet();
        int[] ret = new int[7];
        //set homing's creeping speed
        ret[0] = zmcaux.ZAux_Direct_SetCreep(g_handle, MoveAxis, Convert.ToSingle(Datum_Creep_Value.Text));
        //set origin signal. For ZMC controllers, it is valid when OFF, if the sensor is normally-ON, please invert IN as ON
        ret[1] = zmcaux.ZAux_Direct_SetDatumIn(g_handle, MoveAxis, Convert.ToInt32(DatumIO_Value.Text));
        ret[2] = zmcaux.ZAux_Direct_SetInvertIn(g_handle, Convert.ToInt32(DatumIO_Value.Text), 1);
        //set IO positive position limit
        ret[3] = zmcaux.ZAux_Direct_SetFwdIn(g_handle, MoveAxis, Convert.ToInt32(FWD_IO_Value.Text));
        ret[4] = zmcaux.ZAux_Direct_SetInvertIn(g_handle, Convert.ToInt32(FWD_IO_Value.Text), 1);
        //set IO negative position limit
        ret[5] = zmcaux.ZAux_Direct_SetRevIn(g_handle, MoveAxis, Convert.ToInt32(REV_IO_Value.Text));
        ret[6] = zmcaux.ZAux_Direct_SetInvertIn(g_handle, Convert.ToInt32(REV_IO_Value.Text), 1);
        //set controller homing mode
        Controllers_DatumMode = Convert.ToInt32(Controllers_DatumMode_Value.Text);
        //define tempoaray variables to record each function's returned value
        int FinalRet = -1;
        for(int i = 0; i < 7; ++i)
        {
            FinalRet *= ret[i];
        }
        if (FinalRet == 0)  //returned value 0 means parameters coonfiguration succeeded
        {
            MessageBox.Show("Controller Homing Parameters Config Succeeded!", "Note");
        }
        else
        {
            MessageBox.Show("Controller Homing Parameters Config Failed!", "Note");
        }
    }