Galil Motion Control DMC-42 0 Series, User Manual

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Command Summary - Homing Operation
Command Description
FE XYZW Find Edge Routine. This routine monitors the Home Input
FI XYZW Find Index Routine - This routine monitors the Index Input
HM XYZW Home Routine - This routine combines FE and FI as Described Above
SC XYZW Stop Code
TS XYZW Tell Status of Switches and Inputs
Operand Summary - Homing Operation
Operand Description
_HMx
Contains the value of the state of the Home Input
_SCx Contains stop code
_TSx Contains status of switches and inputs
High Speed Position Capture (The Latch Function)
Often it is desirable to capture the position precisely for registration applications. Position capture can be
programmed to latch on either a corresponding input (see Table 6.13) or on the index pulse for that axis. The
position can be captured for either the main or auxiliary encoder within 25 microseconds of an high-to-low
transition.
Input 1 A-axis latch Input 9 E-axis latch
Input 2 B-axis latch Input 10 F-axis latch
Input 3 C-axis latch Input 11 G-axis latch
Input 4 D-axis latch Input 12 H-axis latch
Table 6.13: Inputs and corresponding axis la
tch
NOTE
Latching is not valid with sampled feedback types such as: SSI, BiSS, Sin/Cos, and Analog
To insure a position capture within 25 microseconds, the input signal must be a transition from high to low. Low to
high transitions may have greater delay.
The software commands, AL and RL, are used to arm the latch and report the latched position respectively. The
latch must be re-armed after each latching event. See the Command Reference for more details on these
commands.
Chapter 6 Programming Motion ▫ 101 DMC-42x0 User Manual