Homing - Related TML Instructions and Data

Homing – Related TML Instructions and Data

Parameters

CACC Acceleration/deceleration command for the position / speed profiles during homing. Measured in acceleration units

CDEC Deceleration rate during quick stop. Measured in acceleration units

CSPD High/normal speed command for the position / speed profiles during homing. Measured in speed units

HOMEPOS New home position set at the end of the homing procedure. Measured in position units

HOMESPD Low speed command for the final approach towards the home position. Measured in speed units

Instructions

CALLS Cancelable call of a TML function

ABORT Abort execution of a function called with CALLS

SAP V32 Set actual position equal with the value or a 32-bit long variable V32. The value is measured in position units

Programming Example

// Position feedback: 500 lines incremental

// encoder (2000 counts/rev)

//Select homing parameters

CACC = 0.3183;//Acceleration rate = 1000[rad/s^2]

CDEC = 0.3183;//Deceleration rate = 1000[rad/s^2]

CSPD = 33.3333;//High speed = 1000[rpm]

HOMESPD = 3;//Low speed = 90[rpm]

HOMEPOS = 0;//Home position = 0[rot]

//Execute homing mode 1

CALLS HomeMode1; // call HomeMode1 function

WaitHomingEnd:

user_var = SRL;

SRB user_var, 0x100, 0; // isolate SRL.8

GOTO WaitHomingEnd, user_var, NEQ; // wait as long as SRL.8=1

HomingEnded:

...

HomeMode1: // this function implements the homing procedure

...

SAP HOMEPOS; // Set home position = HOMEPOS value

RET;