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/MX2_home.cfg

@@ -0,0 +1,70 @@
+define(PLC_Homing='1')
+
+//Homing:
+//Move all motors left bottom
+//move 1mm up
+//move both mottors at same time
+
+//move to limit switch, gather data, move to other limit switch, gather stop. move back to first limit switch
+//motID       :P0  : Motor Number
+//direction   :P1  : Motion direction to first limit switch: -1 -> #1j- ,+1 -> #1j+
+//status      :P100: local status
+//timer       :P101: local timer
+
+open plc PLC_Homing
+define(motID='L0',direction='P1',status='P100',timer='P101')
+jog-1; jog-2; jog-3; jog-4;
+Motor[1].HomeVel=0.5
+Motor[2].HomeVel=0.5
+Motor[3].HomeVel=0.5
+Motor[4].HomeVel=0.5
+status=10
+while(1)
+{
+  if((Motor[1].MinusLimit==1 || Motor[1].FeFatal==1)){
+  if((Motor[2].MinusLimit==1 || Motor[2].FeFatal==1)){
+  if((Motor[3].MinusLimit==1 || Motor[3].FeFatal==1)){
+  if((Motor[4].MinusLimit==1 || Motor[4].FeFatal==1)){
+  status=11
+  break
+  }}}}
+}
+timer = Sys.RunTime + 2
+status=100
+while (Sys.RunTime < timer){} //wait 2 sec
+status=101
+jog1:1000; jog2:1000; jog3:1000; jog4:1000;
+timer = Sys.RunTime + 2
+status=200
+while (Sys.RunTime < timer){} //wait 2 sec
+status=201
+while(1)
+{
+  if(Motor[1].DesVelZero==1 &&  Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
+  {
+    status=12
+    break
+  }
+}
+timer = Sys.RunTime + 2
+while (Sys.RunTime < timer){}
+home 1; home 2; home 3; home 4
+status=13
+while(1) //wait homing index found done
+{
+  if(Motor[1].HomeComplete==1 &&  Motor[2].HomeComplete==1 && Motor[3].HomeComplete==1 && Motor[4].HomeComplete==1)
+  {
+    status=14
+    break
+  }
+}
+while(1) //wait moving to zero position done
+{
+  if(Motor[1].DesVelZero==1 &&  Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
+  {
+    status=15
+    break
+  }
+}
+disable plc PLC_Homing
+close