Enum HomingMethod 

pub enum HomingMethod {
    HardStopPos,
    HardStopNeg,
    IntegratedLimitSwitchPos,
    IntegratedLimitSwitchNeg,
    IntegratedHomeSensorPosRt,
    IntegratedHomeSensorNegRt,
    IntegratedHomeSensorPosFt,
    IntegratedHomeSensorNegFt,
    CurrentPosition35,
    CurrentPosition37,
    Integrated(i8),
    LimitSwitchPosPnp,
    LimitSwitchNegPnp,
    LimitSwitchPosNpn,
    LimitSwitchNegNpn,
    HomeSensorPosPnp,
    HomeSensorNegPnp,
    HomeSensorPosNpn,
    HomeSensorNegNpn,
}

Homing methods for CiA 402 servo drives.

Integrated methods delegate to the drive’s built-in CiA 402 homing mode (SDO 0x6098). The drive uses its own sensor inputs.

Software methods (no Integrated prefix) are implemented by the Axis struct, which monitors AxisView sensor signals and captures the home position when triggered.

Limit switch variants use the sensor type convention:

• Pnp: sensor reads true when object detected (normally open)
• Npn: sensor reads false when object detected (normally closed)

Variants

HardStopPos

Hard stop in positive direction (torque foldback). CiA 402 code: -1.

HardStopNeg

Hard stop in negative direction (torque foldback). CiA 402 code: -2.

IntegratedLimitSwitchPos

Drive’s integrated positive limit switch. CiA 402 code: 18.

IntegratedLimitSwitchNeg

Drive’s integrated negative limit switch. CiA 402 code: 17.

IntegratedHomeSensorPosRt

Drive’s integrated home sensor, positive direction, rising edge. CiA 402 code: 19.

IntegratedHomeSensorNegRt

Drive’s integrated home sensor, negative direction, rising edge. CiA 402 code: 21.

IntegratedHomeSensorPosFt

Drive’s integrated home sensor, positive direction, falling edge. CiA 402 code: 22.

IntegratedHomeSensorNegFt

Drive’s integrated home sensor, negative direction, falling edge. CiA 402 code: 20.

CurrentPosition35

Set the present position as the reference (no motor movement) — CiA 402 “homing on the current position”, method 35 (the original, IEC 61800-7-201 Ed.1). The reference value is taken from the home offset (0x607C). This is the Kollmorgen AKD’s only current-position method (the AKD lists codes 36–127 as reserved).

CurrentPosition37

Set the present position as the reference (no motor movement) — CiA 402 “homing on the current position”, method 37 (the Ed.2 replacement for 35, with standardized home-offset handling). Used by most non-AKD drives. Same operation as 35, different code.

Integrated(i8)

Arbitrary CiA 402 homing method code (vendor-specific or non-standard).

LimitSwitchPosPnp

Move positive, home on positive limit switch (PNP: true = detected).

LimitSwitchNegPnp

Move negative, home on negative limit switch (PNP: true = detected).

LimitSwitchPosNpn

Move positive, home on positive limit switch (NPN: false = detected).

LimitSwitchNegNpn

Move negative, home on negative limit switch (NPN: false = detected).

HomeSensorPosPnp

Move positive, home on home sensor (PNP: true = detected).

HomeSensorNegPnp

Move negative, home on home sensor (PNP: true = detected).

HomeSensorPosNpn

Move positive, home on home sensor (NPN: false = detected).

HomeSensorNegNpn

Move negative, home on home sensor (NPN: false = detected).

Implementations

impl HomingMethod

pub fn is_integrated(&self) -> bool

True if the drive handles this method internally (hardware-delegated).

pub fn cia402_code(&self) -> i8

CiA 402 method code for hardware-delegated methods.

Panics

Panics if called on a software-implemented method. Check is_integrated() first.

pub fn requires_motion(&self) -> bool

True if this method involves motor movement.

Trait Implementations

impl Clone for HomingMethod

fn clone(&self) -> HomingMethod

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for HomingMethod

impl Debug for HomingMethod

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Eq for HomingMethod

impl PartialEq for HomingMethod

fn eq(&self, other: &HomingMethod) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for HomingMethod