129 lines
2.4 KiB
INI
129 lines
2.4 KiB
INI
define(PLC_Homing='1')
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define(statusHoming='P100')
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statusHoming=0
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//statusHoming:
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// 1: M1 phased
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// 2: M2 phased
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// 4: M1 pos limit found
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// 8: M2 pos limit found
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// 16: M1 homed
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// 32: M2 homed
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// 256: homing failed
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open plc PLC_Homing
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define(timer='L1')
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statusHoming=0
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L10=Motor[1].MaxDac
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Motor[1].MaxDac=500
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L11=Motor[1].FatalFeLimit
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Motor[1].FatalFeLimit=2000
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L12=Motor[1].JogSpeed
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Motor[1].JogSpeed=1
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L20=Motor[2].MaxDac
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Motor[2].MaxDac=500
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L21=Motor[2].FatalFeLimit
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Motor[2].FatalFeLimit=2000
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L22=Motor[2].JogSpeed
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Motor[2].JogSpeed=1
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Motor[1].PhaseFindingStep=1
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Motor[2].PhaseFindingStep=1
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while(Motor[1].PhaseFindingStep>0 || Motor[2].PhaseFindingStep>0){}
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if (Motor[1].PhaseFound==1)
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{
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statusHoming|=1
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cmd "#1j/"
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send 1"phasing Y_Achse ok\n"
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}
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else
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{
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send 1"phasing Y Achsde error!\n"
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goto 0 //ERROR_END
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}
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if (Motor[2].PhaseFound==1)
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{
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statusHoming|=2
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cmd "#2j/"
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send 1"phasing X_Achse ok\n"
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}
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else
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{
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send 1"phasing X Achse error!\n"
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statusHoming|=256
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goto 0 //ERROR_END
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}
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//move until FeWarn
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Motor[1].JogSpeed=6
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Motor[2].JogSpeed=6
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timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec
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jog+1
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jog+2
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while(1)
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{
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if(Motor[1].FeWarn && (statusHoming&4)==0)
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{
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cmd "#1j/"
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send 1"Y_Achse +limit\n"
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statusHoming|=4
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}
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if(Motor[2].FeWarn && (statusHoming&8)==0)
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{
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cmd "#2j/"
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send 1"X_Achse +limit\n"
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statusHoming|=8
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}
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if((statusHoming&12)==12)
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break
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}
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timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec
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Motor[1].HomeVel=-3
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Motor[2].HomeVel=-3
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home1
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home2
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timer = Sys.RunTime + .5;while (Sys.RunTime < timer){} //wait .5 sec
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while(Motor[1].HomeInProgress || Motor[2].HomeInProgress){}
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if(Motor[1].HomeComplete)
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statusHoming=statusHoming|16
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else
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{
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statusHoming|=256
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send 1"Y_Achse home failed\n"
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}
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if(Motor[2].HomeComplete)
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statusHoming=statusHoming|32
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else
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{
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statusHoming|=256
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send 1"X_Achse home failed\n"
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}
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//Motor[1].PhasePos=560 // 555 581 593 558
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//Motor[2].PhasePos=1540 //1549 1531 1543 1537
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homez6,7
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goto 1
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N0: //ERROR_END
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statusHoming|=256
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N1: //ENDPLC
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Motor[1].MaxDac=L10
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Motor[1].FatalFeLimit=L11
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Motor[1].JogSpeed=L12
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Motor[2].MaxDac=L20
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Motor[2].FatalFeLimit=L21
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Motor[2].JogSpeed=L22
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send 1"homeing done\n"
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disable plc PLC_Homing
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close
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