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Turbo PMAC User Manual

Executing Individual Motor Moves

229

;*********** PLC program to execute routine *********************

OPEN PLC 10 CLEAR
I124=$20000

; Disable +/-LIM as limits

CMD"#1HM"

; Home #1 into limit and offset out of it

WHILE (M145=1)

; Waits for Home Search to start

ENDWHILE
WHILE (M133=0)

; Waits for Home motion to complete

ENDWHILE
I124=$0 ; Re-enable +/-LIM as limits
DIS PLC10

; Disables PLC once Home is found

CLOSE

; End of PLC

Multi-Step Homing Procedures
You may require a homing procedure that cannot be executed with a single Turbo PMAC homing move.
In this case, you will use two (or possibly more) homing search moves, changing the move parameters in
between. Although this can be done with a sequence of on-line commands, it is probably easier to create
a small motion program to execute the sequence.

Which Direction to Home? The most common of these situations is the case in which it is not known on
which side of the home trigger it is at power-up. In this case, move into one of the limit switches to make
sure it is at one end of travel (this can be done by homing into the limit, much as in the above example).
Then do a homing move the other direction into the real home trigger. A sample motion program routine
that does this is:

CLOSE OPEN PROG 102 CLEAR
I223=10

; Home speed 10 cts/msec positive direction

I224=$20000 ;

Disable

hardware

limits

I225=$78208

; Servo IC 2 Channel 2 for flags

I226=0

; No home offset

I7222=2

; Capture on rising edge of a flag

I7223=1

; Use PLIM2 as flag (positive end limit)

HOME2

; Home into limit

I223=-10

; Home speed 10 cts/msec negative direction

I224=$0

; Re-enable hardware limits

I7222=11

; Capture on flag low and index channel high

I7223=0

; Use HOME2 (home flag) as trigger flag

HOME2

; Do actual homing move

CLOSE

A sample PLC Program routine that does this is:

CLOSE
M233->X:$130,13,1

; #2 Desired-velocity-zero bit

M245->Y:$140,10,1

; #2 Home complete bit

OPEN PLC 11 CLEAR
I223=10 ; Home speed 10 cts/msec positive direction
I224=$20000 ;