73 lines
1.3 KiB
INI
73 lines
1.3 KiB
INI
define(PLC_Homing='1')
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open subprog 12
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enable plc PLC_Homing
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close
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open plc PLC_Homing
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define(status='P100',timer='P101')
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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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L30=Motor[3].MaxDac
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Motor[3].MaxDac=500
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L31=Motor[3].FatalFeLimit
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Motor[3].FatalFeLimit=2000
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L32=Motor[3].JogSpeed
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Motor[3].JogSpeed=1
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Motor[2].PhaseFindingStep=1
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Motor[3].PhaseFindingStep=1
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timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
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Motor[2].HomeVel=2
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Motor[3].HomeVel=2
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P200=Motor[2].HomeInProgress
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home2
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home3
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timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
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P201=Motor[2].HomeInProgress
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status=1
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while(1)
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{
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if(Motor[2].FeFatal && (status&2)==0)
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{
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status=status|2
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Motor[2].HomeVel=-Motor[2].HomeVel
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home2
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}
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if(Motor[3].HomeInProgress==0 && (status&4)==0)
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{
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status=status|4
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Motor[3].HomeVel=-Motor[3].HomeVel
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home3
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}
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if(Motor[2].HomeInProgress==0 && Motor[3].HomeInProgress==0)
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{
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status=status|8
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break
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}
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}
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Motor[2].PhasePos=560 // 555 581 593 558
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Motor[3].PhasePos=1540 //1549 1531 1543 1537
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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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Motor[3].MaxDac=L30
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Motor[3].FatalFeLimit=L31
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Motor[3].JogSpeed=L32
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disable plc PLC_Homing
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close
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