Danaher Motion B8961, Руководство оператора, Страница: 72 / 158

B8961 and B8962 User Manual
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er pulse is not seen within one motor revolution after the reference edge of the
switch is seen,the final homing routine will be aborted.
Note: Homing Mode directly affects or reconfigures the function of the GH com-
mand (see “Configuring Your Home Parameters”in Chapter 5).
Examples:
AC.5 DE.5 GH-20
Go Home in the negative direction at a speed of 20
AC.5 DE.5 GH20 Axis one Go Home in the positive direction at a speed
of 20.
Axis two Go Home in the positive direction at a speed
of 18.
Application Note from the IDC Applications Engineering Group -
Regarding Simultaneous 2-Axis Homing Routines (e.g. GH5,5)
When the move is executed,the control looks at the Home 1 and Home 2 inputs.
This homing routing has three phases:
1. Going Home (initial move toward Home switch).
2. Shuttle Move (reverse and search for first switch edge).
3. Low Speed Home (move to final switch edge - positive or negative).
Both axes will not complete their homing routines independently.When a Home
switch is triggered on axis 1, for example,axis 1 stops and waits for axis 2’s Home
switch to be triggered.Basically, the homing routine will not move to the next
phase (Shuttle Move or Low Speed Move) until both axes have completed the cur -
rent phase.
If type “H”and “h”outputs (At Home 1 and At Home 2) are being used,they will
both turn on when the entire homing routine has been completed,not individually.
GI
Go Immediate syntax - GI or GIi
Units: n/a
Range: n/a
Default: n/a
The GI command begins a defined move profile in the same manner as the GO
command.Unlike the GO command,where program execution waits until all
defined moves have terminated,GI allows program execution to continue once the
move has begun.This allows for other program defined processes to take place
while an axis is moving,such as independent multi-axis moves, OT commands,and
conditional IF blocks.One axis is not required to wait for another axis to finish a
move before beginning its own move.
Following is an example of a program using the GI command:
VE1 DI20 GI MS1, “Axis #1 is moving” TD2
In this example,once the DI20 move begins,program execution immediately dis-
plays the “Axis #1 is moving”message for 2 seconds.Once the TD2 command has
executed,the program will terminate;however, axis #1 will continue to move until
the DI20 distance is reached.A Stop,Kill,or press of the ESC key will halt a GI
based move either inside or outside program execution.