ICPDAS
I-8092F Software User Manual
167
Example of home search using a near home (IN0), home signal (IN1) and Z-phase
signal.
Operation
Input signal and logical level
Search direction Search speed
Step 1
Near home signal (IN0) is active (low)
-
20000 (PPS)
Step 2
Home signal (IN1) is active (low)
-
500 (PPS)
Step 3
Z-phase signal (IN2) is active (high)
+
500 (PPS)
Step 4
35000 pulse offset
+
20000 (PPS)
Fig. A-39 Hardware disposition for home operation example 1
Demo Program:
Example of home search using a near home (IN0), home signal (IN1)
and
the
Z-phase
signal.
Parameters:
cardNo=1, motion axis=0xf (AXIS_ALL)
i8092_SET_R(1, 0xf, 800000)
// Set Multiple=10
i8092_HLMTM_LEVEL(cardNo, 0xf, 0);
// Set negative limit signal of low active
i8092_LMTSTOP_MODE(cardNo, 0xf, 0
) // Set Limit stop mode of decelerating stop
i8092_HOME_STEP1(cardNo, 0xf, 1, 1);
// Set Step1 is executed and negative direction for 2-axes
i8092_HOME_STEP2(cardNo, 0xf, 1, 1);
// Set Step2 is executed and negative direction for 2-axes
i8092_HOME_STEP3(cardNo, 0xf, 1, 0);
// Set Step3 is executed and positive direction for 2-axes
i8092_HOME_STEP4(cardNo, 0xf, 1, 0);
// Set Step4 is executed and positive direction for 2-axes
i8092_SET_SV(cardNo, 0xf, 500);
// Set start velocity=500 (PPS)
i8092_SET_V(cardNo, 0xf, 2000);
// Set drive velocity=2000 (PPS)
i8092_SET_A(cardNo, 0xf, 80);
// Set acceleration=80 (PPS/Sec)
i8092_SET_HV(cardNo, 0xf, 500);
// Set home speed=500 (PPS)
i8092_SET_PULSE(cardNo, 0xf, 20000);
// Set offset pulse=20000
i8092_HOME_START(cardNo , 0xf);
// Starts execution of automatic home search
i8092_STOP_WAIT(cardNo, 0xf);
// Wait drive stop
Sleep(500);
//
In
BC
use
Delay(500);
i8092_SET_LP(cardNo, axis, 0);
// Clear LP counter
i8092_SET_EP(cardNo, axis, 0);
// Clear EP counter
Note:
In this example, the user should connect the IN0~IN2 signals as shown in the
diagram on the left-hand side.
