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
//status      :P100: local status
//timer       :L0: local timer

open plc PLC_Homing
  define(status='P100',timer='L0')
  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=1

  while(1)
  {
    if((Motor[1].LimitStop==1 || Motor[1].FeFatal==1)){
    if((Motor[2].LimitStop==1 || Motor[2].FeFatal==1)){
    if((Motor[3].LimitStop==1 || Motor[3].FeFatal==1)){
    if((Motor[4].LimitStop==1 || Motor[4].FeFatal==1)){
    status=2
    break
    }}}}
  }
  timer = Sys.RunTime + 2
  while (Sys.RunTime < timer){} //wait 1 sec
  status=3
  jog1:1000; jog2:1000; jog3:1000; jog4:1000;
  timer = Sys.RunTime + .1
  while (Sys.RunTime < timer){} //wait 1 sec
  status=4
  while(1)
  {
    if(Motor[1].DesVelZero==1 &&  Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
    {
      status=5
      break
    }
  }
  timer = Sys.RunTime + .1
  while (Sys.RunTime < timer){}
  home 1; home 2; home 3; home 4
  status=6
  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=7
      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=8
      break
    }
  }
  disable plc PLC_Homing
close