Thierry Zamofing
789224b83d
Here all IOCs were started without any hardware. So in the next steps the hardware must be tested.
71 lines
1.7 KiB
INI
71 lines
1.7 KiB
INI
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
|