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DS402: Remove set_new_home functionality from homing procedure (fixes #246) #250

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Aug 16, 2021
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DS402: Remove set_new_home functionality from homing procedure (fixes #246) #250

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9 changes: 1 addition & 8 deletions canopen/profiles/p402.py
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Original file line number Diff line number Diff line change
Expand Up @@ -295,13 +295,10 @@ def is_homed(self, restore_op_mode=False):
self.op_mode = previous_op_mode
return homingstatus in ('TARGET REACHED', 'ATTAINED')

def homing(self, timeout=TIMEOUT_HOMING_DEFAULT, set_new_home=True):
def homing(self, timeout=TIMEOUT_HOMING_DEFAULT):
"""Execute the configured Homing method on the node.

:param int timeout: Timeout value (default: 30).
:param bool set_new_home:
Defines if the node should set the home offset object (0x607C) to the current
position after the homing procedure (default: true).
:return: If the homing was complete with success.
:rtype: bool
"""
Expand All @@ -327,10 +324,6 @@ def homing(self, timeout=TIMEOUT_HOMING_DEFAULT, set_new_home=True):
time.sleep(self.INTERVAL_CHECK_STATE)
if time.monotonic() > t:
raise RuntimeError('Unable to home, timeout reached')
if set_new_home:
actual_position = self.sdo[0x6063].raw
self.sdo[0x607C].raw = actual_position # Home Offset
logger.info('Homing offset set to {0}'.format(actual_position))
logger.info('Homing mode carried out successfully.')
return True
except RuntimeError as e:
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