Galil Motion Control DMC-42 0 Series, User Manual

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Example: Homing
Instruction Interpretation
#HOME Label
CN,-1 Configure the polarity of the home input
AC 1000000 Acceleration Rate
DC 1000000 Deceleration Rate
SP 5000
Speed for Home Search
HM Home
BG Begin Motion
AM After Complete
MG “AT HOME” Send Message
EN End
Figure 6.22 shows the velocity profile from the homing sequence of the example program above. For this profile,
the switch is normally closed and CN,-1.
Figure 6.22: Homing Sequence for Normally Closed Switch and CN,-1
Example: Find Edge
#EDGE Label
AC 2000000 Acceleration rate
DC 2000000 Deceleration rate
SP 8000 Speed
FE Find edge command
BG Begin motion
AM After complete
MG “FOUND HOME” Send message
DP 0 Define position as 0
EN End
Chapter 6 Programming Motion ▫ 100 DMC-42x0 User Manual
_HMX=1 _HMX=0
HOME
SWITCH
MOTION
BEGINS IN
FORWARD
DIRECTION
MOTION
CHANGES
DIRECTION
MOTION IN
FORWARD
DIRECTION
TOWARD
INDEX
INDEX PULSES
POSITION
POSITION
POSITION
POSITION
POSITION
VELOCITY
VELOCITY
VELOCITY