Galil Motion Control DMC-21 5 Series User Manual page 81

Switch Type
Normally Open
Normally Open
Normally Closed
Normally Closed
Example: Homing
#home;
CN ,-1;
AC 1000000;
DC 1000000;
SP 5000;
HV 1000;
SH A;
HM A;
BG A;
AM A;
MG "AT HOME";
MO A;
EN;
Figure 6.19 shows the velocity profile from the homing sequence of the example program above. For this profile,
the switch is normally closed and CN,-1.
Chapter 6 Programming Motion ▫ 76
CN Setting Initial _HMA state
CN,-1
1
CN,1 0
CN,-1 0
CN,1
1
Table 6.17: Possible directions of motions for each stage of the Home command
'label
'configure the polarity of the home input
'acceleration rate
'deceleration rate
'speed for Stage 1
'slower speed for Stages 2 and 3
'enable A axis
'home A axis
'begin motion
'after complete
'send message
'disable A axis
'end program
HOME
SWITCH
VELOCITY
MOTION
BEGINS IN
FORWARD
DIRECTION
VELOCITY
MOTION
CHANGES
DIRECTION
VELOCITY
MOTION IN
FORWARD
DIRECTION
TOWARD
INDEX
INDEX PULSES
Figure 6.19: Homing Sequence for Normally Closed Switch and CN,-1
Direction of Motion
Stage 1
Reverse
Forward
Forward
Reverse
_HMX=0 _HMX=1
POSITION
POSITION
POSITION
POSITION
POSITION
Stage 2 Stage 3
Forward Forward
Reverse Forward
Reverse Forward
Forward Forward
DMC-21x5 User Manual 1.0a1