Home Switch Input; Abort Input - Galil Motion Control DMC-14 5 Series Manual

Home Switch Input

Homing inputs are designed to provide mechanical reference points for a motion control application.
A transition in the state of a Home input alerts the controller that a particular reference point has been
reached by a moving part in the motion control system. A reference point can be a point in space or an
encoder index pulse.
The Home input detects any transition in the state of the switch and changes between logic states 0 and
1, corresponding to either 0V or 5V depending on the configuration set by the user (CN command).
The CN command can be used to customize the homing routine to the user's application.
There are three homing routines supported by the DMC-14XX: Find Edge (FE), Find Index (FI), and
Standard Home (HM).
The Find Edge routine is initiated by the command sequence: FEX <return>, BGX <return> (where X
could be any axis on the controller, X or Y). The Find Edge routine will cause the motor to accelerate
then slew at constant speed until a transition is detected in the logic state of the Home input. The
direction of the FE motion is dependent on the state of the home switch. Refer to the CN command to
set the correspondence between the Home Input voltage and motion direction. The motor will
decelerate to a stop when a transition is seen on the input. The acceleration rate, deceleration rate and
slew speed are specified by the user, prior to the movement, using the commands AC, DC, and SP. It
is recommended that a high deceleration value be used so the motor will decelerate rapidly after
sensing the Home switch.
The Find Index routine is initiated by the command sequence: FIX <return>, BGX <return> (where X
could be any axis on the controller, X or Y). Find Index will cause the motor to accelerate to the
user-defined slew speed (SP) at a rate specified by the user with the AC command and slew until the
controller senses a change in the index pulse signal from low to high. The motor then decelerates to a
stop at the rate previously specified by the user with the DC command. Although Find Index is an
option for homing, it is not dependent upon a transition in the logic state of the Home input, but
instead is dependent upon a transition in the level of the index pulse signal.
The Standard Homing routine is initiated by the sequence of commands HMX <return>, BGX
<return> (where X could be any axis on the controller, X or Y). Standard Homing is a combination
of Find Edge and Find Index homing. Initiating the standard homing routine will cause the motor to
slew until a transition is detected in the logic state of the Home input. The motor will accelerate at the
rate specified by the command, AC, up to the slew speed. After detecting the transition in the logic
state on the Home Input, the motor will decelerate to a stop at the rate specified by the command DC.
After the motor has decelerated to a stop, it switches direction and approaches the transition point at
the speed of 256 counts/sec. When the logic state changes again, the motor moves forward (in the
direction of increasing encoder count) at the same speed, until the controller senses the index pulse.
After detection, it decelerates to a stop and defines this position as 0. The logic state of the Home
input can be interrogated with the command MG _HMX. This command returns a 0 or 1 if the logic
state is low or high (dependent on the CN command). The state of the Home input can also be
interrogated indirectly with the TS command.
For examples and further information about Homing, see command HM, FI, FE of the Command
Reference and the section entitled 'Homing' in the Programming Motion Section of this manual.

Abort Input

The function of the Abort input is to immediately stop the controller upon transition of the logic state.
NOTE: The response of the abort input is significantly different from the response of an activated
limit switch. When the abort input is activated, the controller stops generating motion commands
immediately, whereas the limit switch response causes the controller to make a decelerated stop.
NOTE: The effect of an Abort input is dependent on the state of the off-on-error function for each
axis. If the Off-On-Error function is enabled for any given axis, the motor for that axis will be turned
off when the abort signal is generated. This could cause the motor to 'coast' to a stop since it is no
34 Chapter 3 Connecting Hardware
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