Delta Tau GEO BRICK LV User Manual
Turbo PMAC User Manual
230
Executing Individual Motor Moves
ENDWHILE
I223=-10
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
CMD"#2HM"
; Do actual homing move
WHILE (M245=1)
; Waits for Home Search to start
ENDWHILE
WHILE (M233=0)
WHILE (M233=0)
; Waits for Home motion to complete
ENDWHILE
DIS PLC11
DIS PLC11
; Disables PLC once Home is found
CLOSE
; End of PLC
Already Into Home? A similar situation occurs when it is not known on power-up whether or not it is
already into the home trigger. Here, the easiest solution is to write a program that evaluates this
condition; if it is in the trigger, it moves out before doing the real homing.
already into the home trigger. Here, the easiest solution is to write a program that evaluates this
condition; if it is in the trigger, it moves out before doing the real homing.
;*************** Motion Program Set-up variables (to be saved) *********
CLOSE
M320->X:$078210,20,1
M320->X:$078210,20,1
; Variable for Servo IC 2 Ch. 3 home input
I325=$078210 ; Use Flags3 for Motor 3
;************** Motion program to execute routine *********************
OPEN PROG 103 CLEAR
IF (M320=1)
IF (M320=1)
; Already in trigger?
I323=10
; Home speed 10 cts/msec positive direction
I326=1600
; Home offset +100 counts (to make sure clear)
I7232=11
; Capture on falling flag and rising index
I7233=0
; Use Home3 as flag
HOME3
; "Home" out of switch
ENDIF
I323=-10
I323=-10
; Home speed 10 cts/msec negative direction
I326=0 ; No home offset
I7232=3 ; Capture on rising flag and rising index
I7233=0 ; Use HMFL3 as flag
HOME3
I7232=3 ; Capture on rising flag and rising index
I7233=0 ; Use HMFL3 as flag
HOME3
; Do actual homing move
CLOSE
; End of program
;***************PLC Set-up variables (to be saved) ********************
CLOSE
M320->X:$078210,20,1
M320->X:$078210,20,1
; Variable for Servo IC 2 Ch. 3 home input
I325=$078210 ; Use Flags3 for Motor 3
M333->X:$01B0,13,1
M333->X:$01B0,13,1
; Desired Velocity Zero bit
M345->Y:$01C0,10,1
; Home complete bit
;**************** PLC program to execute routine *********************
OPEN PLC 12 CLEAR
IF (M320=1)
IF (M320=1)
; Already in trigger?
I323=10
; Home speed 10 cts/msec positive direction
I326=1600
; Home offset +100 counts (to make sure clear)
I7232=11
; Capture on falling flag and rising index
I7233=0
; Use Home3 as flag
CMD"#3HM"
; “Home” out of switch
WHILE (M345=1)
; Waits for home search to start