Homing - Galil Motion Control DMC-18 2 Series User Manual

The command, IT, is used for smoothing independent moves of the type JG, PR, PA and the command,
VT, is used to smooth vector moves of the type VM and LM.
The smoothing parameters, x,y,z,w and n are numbers between 0.5 and 16 and determine the degree of
filtering. The minimum value of 0.5 implies no filtering, resulting in trapezoidal velocity profiles.
Larger values of the smoothing parameters imply heavier filtering and smoother moves.
Note that KS is valid only for step motors.

Homing

The Find Edge (FE) and Home (HM) instructions may be used to home the motor to a mechanical
reference. This reference is connected to the Home input line. The HM command initializes the motor
to the encoder index pulse in addition to the Home input. The configure command (CN) is used to
define the polarity of the home input.
The Find Edge (FE) instruction is useful for initializing the motor to a home switch. The home switch
is connected to the Home input. When the Find Edge command and Begin are used, the motor will
accelerate up to the slew speed and slew until a transition is detected on the homing line. The motor
will then decelerate to a stop. A high deceleration value must be input before the find edge command
is issued for the motor to decelerate rapidly after sensing the home switch. The velocity profile
generated is shown in Fig. 6.8.
The Home (HM) command can be used to position the motor on the index pulse after the home switch
is detected. This allows for finer positioning on initialization. The command sequence HM and BG
causes the following sequence of events to occur.
1. Upon begin, the motor accelerates to the slew speed. The direction of its motion is
2. Upon detecting a change in state on the home input, the motor begins decelerating to a
3. The motor then traverses very slowly back until the home switch toggles again.
4. *The motor then traverses forward until the encoder index pulse is detected.
5. *The DMC-18x2 defines the home position as the position at which the index was
Example:
#HOME
AC 1000000
DC 1000000
SP 5000
HM X
BG X
AM X
MG "AT HOME"
EN
#EDGE
AC 2000000
DC 2000000
DMC-18x2
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determined by the state of the homing input. A zero (GND) will cause the motor to start
in the forward direction; +5V will cause it to start in the reverse direction. The CN
command is used to define the polarity of the home input.
stop.
detected and sets the encoder reading at this position to zero.
*NOTE: For stepper motors only, the edge is found as there is no index pulse.
Label
Acceleration Rate
Deceleration Rate
Speed for Home Search
Home X
Begin Motion
After Complete
Send Message
End
Label
Acceleration rate
Deceleration rate
Chapter 6 Programming Motion • 103