Parker Hannifin VERSION 1.0 manual Configure Homing Functions, Function Called Address in Program

ACR-MOTIONMAX Installation Guide 16

Step 9. Configure Homing Functions

Homing is accomplished by program0 at dedicated Address that ACR-MOTIONMAX will call directly behind the scenes. The user simply inserts his actual homing code into the appropriate Function as follows.

ACR-MOTIONMAX reads the Homing Status bits to disallow other functions while homing is Active. A homing Sequence shall

1)Set the Axis Homing bit when started. Ex: Set 144 … sets the Homing Active bit to ACR-

MOTIONMAX.

2)Clear the Axis Home bit when started Ex: Clr 170 … Clears the X home Done Bit to ACR-

MOTIONMAX.

3)When Homing is complete … Ex: Set 170 … Sets the Axis Homed Bit to ACR-MOTIONMAX.

Homing Direct Called Subroutine Address’s in Program0

Function	Called Address in Program 0
Axis0 Homing “X”	100 to 199
Axis1 Homing “Y”	200 to 299
Axis2 Homing “Z”	300 to 399
Axis3 Homing “4 Th Axis ”	400 to 499
Homing Status Bits of the Control Signals
Function	Control Signals Bit
Homing Active Bit	144
Axis0 Home Done “X”	170
Axis1 Homing “Y”	172
Axis2 Homing “Z”	173
Axis3 Homing “4 Th Axis ”	174

￿Axis 0 Homing Example Code:

REM ***[ X HOMING FUNCTION ]*****************************************************

REM BIT 170	= X HOME DONE
REM BIT 15	= X HOME LIMIT SWITCH (NORMALY Closed SWITCH)
100 SET 144: GEAR RES X: JOG RES X: vector 0:				REM Set the Homing Active Control Bit
101 ACC 10	: REM Set Acceleration ramp value
102 DEC 10	: REM Set Deceleration ramp value
103 STP 10	: REM Set stop ramp value
104 CLR 170	: REM CLEAR THE X REFRENCE DONE BIT TO->CNC
105 VEL 3: CLR 2053: ROV 1: FOV 1			: REM Set velocity toward home switch
106 INT -15 X (100,0)		: REM *START MOVING TILL LIMIT SW. GOES
107 INH -516
109 VEL .2		: REM
130 INT 15 X (-12,0)		: REM *GO TILL OFF LIMIT SWITCH AND STOP
131 INH -516
140 VEL .25		: REM *SET VEL TO SEEK THE MARKER PULSE
141 JOG RES X
145 MSEEK X (-12,0)		: REM *Initiate a marker seek operation AND ZERO CONTROLLER
151 RES X		: REM *MARKER FOUND, ZERO X POS REGISTERS
153 REN X		: REM *MAKE CURRENT X POS ZERO
154 VEL 1: MOV X -. 5 : REM THIS ISTHE HOME OFFSET VALUE
155 INH –516		: REM WAIT FOR MOTION TO STOP
156 JOG RES X: RES X: REN X			: REM ZERO POSITION TO ABS 0