PMAC Product Guide I225=$C004.. ; Re-enable +/-LIM2 as limits I907=11..... ; Capture on flag low and index channel high I908=0...... ; Use HMFL2 (home flag) as trigger flag CMD"#2HM" .. ; Do actual homing move WHILE (M245=1) ; Waits for Home Search to start ENDWHILE WHILE (M233=0) ; Waits for Home motion to complete ENDWHILE DIS PLC11... ; Disables PLC once Home is found CLOSE....... ; End of PLC Already Into Home? A similar situation occurs when it is known on power-up whether or not the position is already into the home trigger. Here, the easiest solution is to write a program that evaluates this condition; if it is in the trigger, it moves out before doing the real homing.
;*************** Motion Program Set-up Variables (to be saved) ********* CLOSE M320->X:$C008,20,1 ; Variable for HMFL3 input I325=$C008 ; Use Flags3 for Motor 3 ;************** Motion Program to Execute Routine ********************* OPEN PROG 103 CLEAR IF (M320=1) ; Already in trigger?
I323=10 ; Home speed 10 cts/msec positive direction I326=1600 ; Home offset +100 counts (to make sure clear) I912=11 ; Capture on falling flag and rising index I913=0 ; Use HMFL3 as flag HOME3 ; "Home" out of switch ENDIF I323=-10 ; Home speed 10 cts/msec negative direction I326=0 ; No home offset I912=3 ; Capture on rising flag and rising index I913=0 ; Use HMFL3 as flag HOME3 ; Do actual homing move CLOSE ; End of program ;***************PLC Set-up variables (to be saved) ******************** CLOSE M320->X:$C008,20,1 ; Variable for HMFL3 input I325=$C008 ; Use Flags3 for Motor 3 M333->X:$00B5,13,1 ; Desired Velocity Zero bit M345->Y:$0994,10,1 ; Home complete bit M350->D:$009E ; Present Desired Velocity ;**************** PLC Program to Execute Routine ********************* OPEN PLC 12 CLEAR 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) I912=11 ; Capture on falling flag and rising index I913=0 ; Use HMFL3 as flag CMD"#3HM" ; "Home" out of switch WHILE (M345=1) ; Waits for Home Search to start ENDWHILE WHILE (M333=0) ;Waits for Home motion to complete ENDWHILE ENDIF 64 Programming PMAC