68 lines
1.6 KiB
INI
68 lines
1.6 KiB
INI
define(PLC_Homing='1')
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//Homing:
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//Move all motors left bottom
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//move 1mm up
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//move both mottors at same time
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//move to limit switch, gather data, move to other limit switch, gather stop. move back to first limit switch
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//status :P100: local status
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//timer :L0: local timer
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open plc PLC_Homing
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define(status='P100',timer='L0')
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jog-1; jog-2; jog-3; jog-4;
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Motor[1].HomeVel=0.5
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Motor[2].HomeVel=0.5
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Motor[3].HomeVel=0.5
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Motor[4].HomeVel=0.5
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status=1
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while(1)
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{
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if((Motor[1].MinusLimit==1 || Motor[1].FeFatal==1)){
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if((Motor[2].MinusLimit==1 || Motor[2].FeFatal==1)){
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if((Motor[3].MinusLimit==1 || Motor[3].FeFatal==1)){
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if((Motor[4].MinusLimit==1 || Motor[4].FeFatal==1)){
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status=2
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break
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}}}}
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}
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timer = Sys.RunTime + 2
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while (Sys.RunTime < timer){} //wait 1 sec
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status=3
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jog1:1000; jog2:1000; jog3:1000; jog4:1000;
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timer = Sys.RunTime + .1
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while (Sys.RunTime < timer){} //wait 1 sec
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status=4
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while(1)
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{
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if(Motor[1].DesVelZero==1 && Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
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{
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status=5
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break
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}
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}
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timer = Sys.RunTime + .1
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while (Sys.RunTime < timer){}
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home 1; home 2; home 3; home 4
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status=6
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while(1) //wait homing index found done
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{
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if(Motor[1].HomeComplete==1 && Motor[2].HomeComplete==1 && Motor[3].HomeComplete==1 && Motor[4].HomeComplete==1)
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{
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status=7
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break
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}
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}
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while(1) //wait moving to zero position done
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{
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if(Motor[1].DesVelZero==1 && Motor[2].DesVelZero==1 && Motor[3].DesVelZero==1 && Motor[4].DesVelZero==1)
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{
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status=8
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break
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}
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}
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disable plc PLC_Homing
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close
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