Elmo HARmonica, HARSFEN0602 software manual 178, Switches location

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

178

Figure 35 – Switches location

The following user program does the algorithm:

function [int status] = homing1(int TimeOut) /*

Homing routine. Input:

TimeOut: Timeout for failure Output:

status=1 if o.k., otherwise a negative error code Assumptions:

RLS,FLS,HOME already programmed by IL[1],IL[2],IL[3] commands */

int OldMi;

/* Go reverse until limit switch */

OldMi=MI;MI=MI0x16; /* Prevent operational AUTO_RLS routine while in homing process*/ /* Arm homing for RLS, stop after homing, don't initialize counter*/ HM[3]=7;HM[4]=0;HM[5]=2;HM[1]=1;↑

/* Go to the reverse */ JV=-10000;BG;WaitArrive(2000);if(status<=0)goto LastLine; end /* Go until home switch*/ HM[3]=1;HM[4]=2;HM[5]=2;HM[1]=1; JV=-JV;BG;WaitHome(2000);if(status<=0)goto LastLine; end /* Finallyset position by index */ HM[3]=3;HM[4]=0;HM[5]=0;HM[1]=1; WaitHome(2000);if(status<=0)goto LastLine; end status=1;/*Success return */

##LastLine

MI=OldMI; ** Restore AUTO_RLS routine status return

Note that the function above uses MI to prevent RLS from activating the AUTO_RLS routine. Another possible approach would be to use IL[] to change the functionality of the switch to GPI7, and then home on the GPI. With the latter approach, however, the routine programmer need to know which connector pin is programmed as RLS.

The algorithm used the following helper functions:

7General Purpose Input