Danfoss VLT 5000 Series Manual page 83

I I I I I GOTO
The GOTO command enables an unconditional
jump to the indicated program position and the
program processing at this position will be carried
out.
The jumped-to position is identified with a label. A
label can consist of one or more characters and
may not be identical to a variable name or a com-
mand word. A label must also be unique, i.e. it
may not be used for different program positions.
It is therefore possible to program a continuous
loop via the GOTO command.
Summary
Jump to a program label
Syntax
GOTO label
Parameter
label = identification of program target position
NB!
The label for the program target position
must be followed by a colon (:).
Command group
CON
Cross Index
LOOP
Syntax-Example
endless: /* Label to be jumped to */
Command line 1
Command line n
GOTO endless
/* jump command to label endless */
Program sample
GOTO_01.M
EXIT_01.M, IF_01.M
MG.10.J4.02 – VLT is a registered Danfoss trade mark
®
VLT 5000 SyncPos option
I I I I I HOME
The HOME command is moving the drive to the
machine reference switch, which must be placed
at the machine zero or reference position. Velocity
and acceleration/deceleration for HOME positio-
ning is defined in the parameters HOME_VEL (7)
and HOME_RAMP (41).
To achieve accurate positioning HOME_VEL (7)
should not be higher than 10 % of maximum velo-
city.
The sign of HOME_VEL (7) determines the direc-
tion in which the reference switch is searched.
When the HOME position is reached, this position
will be defined as 0.
The reference switch can be approached in 4 dif-
ferent ways defined in parameter HOME_TYPE(40):
0 Moves to reference switch, moves in opposite
direction leaving the references switch and
stops at the next index pulse (encoder zero
pulse or external marker signal).
1 Like 0 but without searching for the index pulse.
2 Like 0 but leaving the switch without reversing
the direction.
3 Like 2 but without searching for the index pulse.
If HOME is aborted via an Interrupt, HOME will not
be continued automatically at the end of the inter-
rupt routine function. Instead the program conti-
nues with the next command. This makes it pos-
sible for HOME to also be aborted after an error.
Summary
Move to device zero point (reference switch) and
set as the real zero point.
Syntax
HOME
Peculiarities
The system must be fitted with a reference switch,
when possible with an encoder with an index
pulse.
NB!
The HOME command will also be carried
out to the end in the NOWAIT ON mode,
before other program processing will be begun.
Please note, that ON PERIOD xx GOSUB xx must
be disabled during homing.
E.g. ON PERIOD n GOSUB x and the resetting
after homing is completed.
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