Motion Control
MultiFlex PCI 1000 Series User's Manual
105
Homing Axes
When power is applied or the controller is reset, the current position of all servo and stepper axes are
initialized to zero. If they are subsequently moved, the controller will report their positions relative to the
position where they were last initialized. At any time the user can call the
MCSetPosition( )
function to re-
define the position of an axis.
In most applications, there is some position/angle of the axis (or mechanical apparatus) that is considered
'home'. Typical automated systems utilize electro-mechanical devices (switches and sensors) to signal
the controller when an axis has reached this position. The controller will then define the current position of
the axis to a value specified by the user. This procedure is called a homing sequence. The controller is
not shipped from the factory programmed to perform a specific homing operation. Instead, it has been
designed to allow the user to define a custom homing sequence that is specific to the system
requirements. The controller provides the user with two different options for homing axes:
1)
High level function calls using the Motion Control API
- Easy to program homing sequences
usingMotion Control API function calls.
2)
MCCL homing macro’s stored in on-board memory
- When executed as background tasks,
MCCL homing macro’s allow the user to home multiple axes simultaneously. For additional
information on macro’s and background tasks please refer to the
Motion Control Command
Language (MCCL) Reference manual
.
Connecting a Home Sensor
The Home inputs (Coarse Home - servo’s & closed loop steppers, Home – open loop stepper) of the
controller use bi-directional optical isolators for interfacing to the external home sensor. For example
wiring diagrams refer to page 60. For axis I/O circuit schematics refer to page 199. Use the Motion
Integrator Motion System Setup Test Panel or the Status Panel Utility to test the home sensors, wiring,
and controller operation.
Verifying the operation of the Index Mark of an Encoder
Most closed loop system applications will use the Index mark of the encoder to define the ‘home’ position
of a servo. Use Motion Integrator’s Connect Encoder Wizard to verify the proper operation of the encoder
index.
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