Elmo HARSFEN0602 175, Automatic routines, Real time Motion management, Homing, Capture, and Flag

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

175

Host logics only.

13.4.3Automatic routines

Many events can be tied to automatic handler routines in the user program. To learn more about automatic user program routines, refer the section "Automatic subroutines".

The table below summarizes some of the properties off automatic routines.

Topic	Comment
Capture probability:	High. An input pulse may slip away unnoticed only if the user
	program is not running, the input is masked, or the pulse is so
	short it does not pass the input filters.
Deterministic delay:	No, although in most cases the automatic routine will start
	within 2msec.
Use:	User program logic.

13.4.4Real time – Motion management, Homing, Capture, and Flag

Events can do several things in real-time response. These are:

Stopping the motor, or prevention move in one direction (refer the section on "The Stop management" and the chapter "Unit Modes")

Begin a new motion (refer the BG command in the Command Reference Manual and the chapter on "Unit Modes")

Disable the power amplifier Log the position counters

Modify the value of a position counter, and optionally stop.

•Flag to an output connector pin.

The table below summarizes some of the properties off automatic routines.

Topic	Comment
Capture probability:	High. An input pulse may slip away unnoticed only if the user
	program is not running, the input is masked, or the pulse is so
	short it does not pass the input filters.
Deterministic delay:	Yes. Position logging and value setting are made immediately
	and yield accurate results regardless of the speed.
	Position flagging is made within 100usec.
	Motion management functions are responded at the next
	controller sampling time.
Use:	Homing (Setting an absolute origin to the incremental position
	sensors)
	Motion management.
	High speed signaling.

13.5Homing and Capture

13.5.1What Is Homing?

The Amplifier uses incremental position sensors. Therefore, the Amplifier can only tell the distance the motor traveled since power on, but not where the position counting started. The process of teaching the Amplifier its absolute position is called “Homing”.

Homing of the main position counter (PX) typically serves for: