Parker ACR Series, Руководство программиста

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Parker Hannifin
JOG VEL X10 Y10 : REM Set axes jog parameters used during homing
JOG ACC X100 Y100
JOG DEC X100 Y100
HLBIT X0 Y3 : REM X uses 1Home (input2), Y uses 2Home (input5)
HLIM X3 Y3 : REM enable EOT limit checking for box axes
JOG HOMVF X0.1 Y0.1 : REM Set backup to home velocity
SET 16144 SET 16145 : REM Invert axis0 level of limit inputs
SET 16176 SET 16177 : REM Invert axis1 level of limit inputs
CLR 16152 CLR 16184 : REM Disable backup to home
CLR 16153 CLR 16185 : REM Look for positive edge of sensor
CLR 16154 CLR 16186 : REM Final homing direction will be positive
JOG HOME X-1 Y1 : REM start homing x negative, y positive
REM The WHILE/WEND statement uses Boolean logic to define homing
REM conditions. Bits 16134 and 16166 are the Found Home bits for axes
WHILE (((NOT BIT 16134) AND (NOT BIT 16135)) OR ((NOT BIT 16166) AND (NOT
BIT 16167)))
WEND
IF (BIT 16166) THEN PRINT "Y HOMING SUCCESSFUL“
IF (BIT 16134)
MSEEK X(1,0)
INH –516
IF (BIT 777)
PRINT "X HOMING SUCCESSFUL“
ENDIF
ENDIF
ENDP
Homing Subroutines
Typically, the homing code is a subroutine in a program. The Jog
commands define the motion ( JOG ACC , JOG DEC , JOG HOME , JOG
HOMVF , JOG JRK , and JOG VEL ), and three bits in the Quinary Axis
Flags (Bit16128-Bit16639) control other aspects of a homing routine.
•
Home Backup Enable (bit index 24).
•
Home Negative Edge Select (bit index 25).
•
Home Final Direction (bit index 26).
The JOG HOME command simultaneously homes multiple axes. The
arguments axis direction allow the user to specify an axis and the
direction in which it seeks the homing region. For example JOG
HOME X1 Y-1 homes the X axis in the positive direction, and the Y
axis in the negative direction.
The following diagrams illustrate the combinations and interactions
of the three homing bits (above) and the
JOG HOME command.
Basic Homing (Homing Backup Disabled)
When the Home Backup Enable bit (Bit 24) is clear, the controller
ignores the Home Negative Edge Select bit (Bit 25) and Home
Negative Final Direction bit (Bit 26). Consequently, when the
controller finds any homing edge (positive or negative), the move
decelerates. The controller does not attempt to back up to the
found edge.
Making Motion 79