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MNEMONIC
HM
DESCRIPTION
This instruction will find the selected I/O switch. There are four types for this command:
1) Speed (S): Specifies the direction and speed that the axis will move until the switch is activated (VM).
2) Creep (C): Specifies the direction and speed that the axis will move off the switch until it becomes inactive again (VI).
When HM is executed, the axis moves in the direction specified by the sign of speed at VM. It then creeps off of the switch in the
direction specified by the sign of creep at VI. Motion is stopped as soon as the switch becomes deactivated.
USAGE
HM=<type>
EXAMPLE:
HM=3
'Find home switch at VM in the plus direction, Creep off at VI in the minus direction
RELATED COMMANDS: VM, VI, S1-S4
MNEMONIC
HT
DESCRIPTION
The HT variable sets the delay time in milliseconds between the cessation of motion and when the MDrive Motion Control shifts to
the holding current level specified by the HC (Motor Holding Current) variable. The delay time is also effected by the MT (Motor
Settling Delay Time) variable in that the total time from motion ceasing to current change is represented by the sum of MT + HT
USAGE
HT=<time>
EXAMPLE:
HT=1500
RELATED COMMANDS: HC, MT, RC
MNEMONIC
I1 - I4
DESCRIPTION
This variable will read the state of the specified input 1 - 4. Can be used with PR (Print), BR (Branch) and Cl (Call Subroutine)
instructions. Can also be used with Ri-R4 and User Variables.
USAGE
PR I<1-4>
BR <addr>, I<1-4>=<1/0>
CL <addr>, I<1-4>=<1/0>
EXAMPLE:
PR I2
'Print the state of Input 2 to the Terminal Screen
BR 128, I3=1
'Conditional branch to program line 128 if Input 3 = 1
CL 432, I4=0
'Call subroutine at line 432 if Input 4 = 0
RELATED COMMANDS: IN, O1-O4, PR, S1-S4
FUNCTION
Home to Home Switch Variable
TYPES
1: S- C+, 2: S- C-, 3: S+ C-, 4: S+ C+
FUNCTION
Hold Current Delay Time
UNITS
milliseconds
'Set hold current delay time to 1.5 seconds
FUNCTION
Read Input
TYPE
Setup Variable
TYPE
Setup Variable
RANGE
0 to 65000
TYPE
I/O Variable
DEFAULT
500
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