Omron trajexia CJ1W-MCH72 Operation Manual page 142

All BASIC commands
4-2-66 DATUM_IN
/i
Example A machine similar to the machine in the example above must locate a
home switch, which is at the forward end of the move. The machine
then moves backwards to the next Z marker, and set this Z marker as
the
datum. This is done with DATUM(5), which moves forward at SPEED to
locate the switch, then reverses at CREEP to the Z marker. If required,
a move is made to the datum Z marker.
SERVO=ON
WDOG=ON
DATUM_IN=7 'sets input 7 as home switch
SPEED=5000 'set speed, for quick location of switch
CREEP=500 'set creep speed for slow move to find edge of switch
DATUM(5) 'start the homing sequence
WAIT IDLE
See also ACCEL,
MOTION_ERROR, SPEED.
/i
Type Axis parameter
Syntax DATUM_IN
DAT_IN
Description The DATUM_IN axis parameter contains the input number to be used
as the datum switch input for the DATUM command. The valid input
range is given by 0 to 31. Values 0 to 15 represent physically present
inputs of CJ1W-MCH72 I/O connector and are common for all axes.
Values 16 to 31 are mapped directly to driver inputs that are present on
the CN1 connector. They are unique for each axis. It depends on the
type of Servo Driver which Servo Driver inputs are mapped into inputs
16 to 31. For more information on Servo Driver I/O mapping into the
Trajexia I/O space, refer to section 5-1-4.
Note: The origin input is active low, i.e., the origin switch is set when the
input is OFF. The feedhold, reverse jog, forward jog, forward and
reverse limit inputs are also active low. Active low inputs are used to
enable fail-safe wiring.
Arguments N/A
Example DATUM_IN AXIS(0)=5
See also AXIS, DATUM.
AXIS, AXISSTATUS,
Section 4-2
CREEP, DATUM_IN, DECEL,
131