Enum HomingMethod 

pub enum HomingMethod {
    HardStopPos,
    HardStopNeg,
    IntegratedLimitSwitchPos,
    IntegratedLimitSwitchNeg,
    IntegratedHomeSensorPosRt,
    IntegratedHomeSensorNegRt,
    IntegratedHomeSensorPosFt,
    IntegratedHomeSensorNegFt,
    CurrentPosition,
    Integrated(i8),
    LimitSwitchPosRt,
    LimitSwitchNegRt,
    LimitSwitchPosFt,
    LimitSwitchNegFt,
    HomeSensorPosRt,
    HomeSensorNegRt,
    HomeSensorPosFt,
    HomeSensorNegFt,
}

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 for edge triggers and captures the home position.

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.

CurrentPosition

Current position as home (no motor movement). CiA 402 code: 37.

Integrated(i8)

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

LimitSwitchPosRt

Move positive, home on rising edge of positive limit switch.

LimitSwitchNegRt

Move negative, home on rising edge of negative limit switch.

LimitSwitchPosFt

Move positive, home on falling edge of positive limit switch.

LimitSwitchNegFt

Move negative, home on falling edge of negative limit switch.

HomeSensorPosRt

Move positive, home on rising edge of home sensor.

HomeSensorNegRt

Move negative, home on rising edge of home sensor.

HomeSensorPosFt

Move positive, home on falling edge of home sensor.

HomeSensorNegFt

Move negative, home on falling edge of home sensor.

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 Debug for HomingMethod

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

Formats the value using the given formatter.

impl PartialEq for HomingMethod

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for HomingMethod

impl Eq for HomingMethod

impl StructuralPartialEq for HomingMethod