ADLINK Technology cPCI-8168, User Manual

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136 Function Library
6.9 Home Return Mode
@ Name
_8168_set_home_config
– Set the configuration for home
return.
_8168_home_move
– Perform a home return move.
_8164_escape_home
– Escape Home Function
_8164_home_search
–Auto-Search Home Switch
@ Description
_8168_set_home_config
:
Configure the home return mode, origin & index signal(EZ) logic,
EZ count and ERC output options for home_move() function.
Refer to Section 4.1.8 for the setting of home_mode control.
_8168_home_move
:
This function will cause the axis to perform a home return move
according to the setting of
_8168_set_home_config
() function.
The direction of movement is determined by the sign of velocity
parameter(svel, mvel). Since the stopping condition of this func-
tion is determined by home_mode setting, user should be sure to
select the initial moving direction and handle the condition when
the limit switch is touched or other possible conditions causing the
axis to stop. Executing
v_stop
() function during
home_move
()
can also cause the axis to stop.
_8168_escape_home
:
After homing, use this function to leave the home switch
_8168_home_search
:
Auto searching home position. The axis will reverse when limit
switch is reached and start over the home move without being
stopped by the limit switch. It is very useful when users don’t know
the actual position of axis.