1. Disclaimer
By following this guide, the operator is responsible for repair due to any unintended file modifications that
might cause the system to be inoperable. Extra caution and care is necessary while accessing Cloud9 in the system.
NOTE: The controller MUST to be turned OFF if there is any attempt to manipulate the motor drive
cable (unplug, loosen, plug in, tighten)
2. Overview
This forum post will guide you through checking how to perform homing using a sensor connecting to an IO
Module for a Rotary Actuator V2 instead of using the motor’s endstops. This is applicable using Python API
only for this guide
For more details about the Rotary Actuator V2, please refer to our site.
3. Setup Requirements
Here is a list of the equipment you will need :
MachineMotion V2
P/N: CE-CL-010-0004
Non-Flush Inductive Proximity Sensor
P/N: CE-SN-004-0001
IO Module V1 - P/N: CE-MD-001-0000
Or IO Module V2 - P/N: CE-MD-001-0000 v2
IO Module’s address - Please see IO Module Address Configuration Guide
Input pin number that the Non-Flush Inductive Proximity Sensor is connected to
NEMA 34 Stepper Servo Motor
Large - 157mm - P/N: MO-SM-011-0000
Medium - 100mm - P/N: MO-SM-012-0000
Small - 68mm - P/N: MO-SM-013-0000
Rotary Actuator V2 with Sensor Provision
P/N: MO-RM-002-0001__3
Code template can be found on the last page of this post
Components
Sensor to IO Module V1
Figure 1. Sensor to IO Module V1 connection
Sensor to IO Module V2
Figure 2. Sensor to IO Module V2 connection
Sensor Trigger and Sensor Placement
The home final position will be right before the trigger piece.
Figure 2. The sensor at home position
Note: the sensor will need to be close and able to read the entire length of the sensor trigger piece as
sample image below
Figure 3. Recommended distance between sensor and trigger piece
Figure 4. Sensor needs to pass in full length alignment of the trigger piece
Python Script
Variables
Before running the Homing with IO Module python script, a few variables below will need to be changed to match with your existing system connection and hardware.
To determine IO address, please consult the IO Module Address Configuration guide.
Motor configuration
Make sure to match the motor configuration to your system with respect to the axis, actuator type, positive direction, current delivered to motor and motor size.
For more details on MachineMotion Python API, please refer to our Github
4. Code Sequence Walkthrough
Sequence Flowchart
Potential Features
It is possible to add more future to the Homing with IO Module Python script such as:
- Run script automatically on startup
- Run script when a button is pressed
5. Code Template
Code template can be downloaded with the link below.