towards recabeling and reconfiguring all Powerbricks and Smaracts devices

Here all IOCs were started without any hardware.
So in the next steps the hardware must be tested.

cfg/MX1_home.cfg

@@ -0,0 +1,78 @@
+define(PLC_Homing='1')
+define(statusHoming='P100')
+statusHoming=0
+
+//statusHoming:
+// 1: M1 phased
+// 2: M2 phased
+// 4: M1 homed
+// 8: M2 homed
+// 16: M1 neg limit
+// 32: M2 neg limit
+// 64: homing done
+// 128: homing failed
+
+
+open plc PLC_Homing
+  define(timer='L1')
+  statusHoming=0
+  L10=Motor[1].MaxDac
+  Motor[1].MaxDac=500
+  L11=Motor[1].FatalFeLimit
+  Motor[1].FatalFeLimit=2000
+  L12=Motor[1].JogSpeed
+  Motor[1].JogSpeed=1
+
+  L20=Motor[2].MaxDac
+  Motor[2].MaxDac=500
+  L21=Motor[2].FatalFeLimit
+  Motor[2].FatalFeLimit=2000
+  L22=Motor[2].JogSpeed
+  Motor[2].JogSpeed=1
+
+
+  Motor[1].PhaseFindingStep=1
+  Motor[2].PhaseFindingStep=1
+  timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
+
+  Motor[1].HomeVel=2
+  Motor[2].HomeVel=2
+
+  home1
+  home2
+  timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
+  statusHoming|=1
+  while(1)
+  {
+    if(Motor[1].FeFatal && (statusHoming&2)==0)
+    {
+      statusHoming=statusHoming|2
+      Motor[1].HomeVel=-Motor[1].HomeVel
+      home1
+    }
+    if(Motor[2].HomeInProgress==0 && (statusHoming&4)==0)
+    {
+      statusHoming=statusHoming|4
+      Motor[2].HomeVel=-Motor[2].HomeVel
+      home2
+    }
+    if(Motor[1].HomeInProgress==0 && Motor[1].HomeInProgress==0)
+    {
+      statusHoming=statusHoming|8
+      break
+    }
+  }
+
+  Motor[1].PhasePos=560 // 555   581  593  558
+  Motor[2].PhasePos=1540 //1549  1531 1543 1537
+
+
+  Motor[1].MaxDac=L10
+  Motor[1].FatalFeLimit=L11
+  Motor[1].JogSpeed=L12
+  Motor[2].MaxDac=L20
+  Motor[2].FatalFeLimit=L21
+  Motor[2].JogSpeed=L22
+
+  disable plc PLC_Homing
+close