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

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Parker Hannifin VERSION 1.0 Configure Homing Functions, Function Called Address in Program, Function Control Signals Bit
Page 15 Page 17

VERSION 1.0 specifications

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