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Homing – TML Programming Details |
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The homing is a sequence of motions, usually executed after power-on, through which the load is positioned into a well-defined point – the home position. Typically, the home position is the starting point for normal operation. The search for the home position can be done in numerous ways. In order to offer maximum flexibility, the TML does not impose the homing procedures but lets you define your own, according with your application needs. Basically a homing procedure is a TML function and by calling it you start executing the homing procedure. The call must be done using the TML command CALLS – a cancelable call. This command offers the possibility to abort at any moment the homing sequence execution (with TML command ABORT) and return to the point where the call was initiated. Therefore, if the homing procedure can’t find the home position, you have the option to cancel it. During the execution of a homing procedure SRL.8 = 1. Hence you can find when a homing sequence ends, either by monitoring bit 8 from SRL or by programming the drive/motor to send a message to your host when SRL.8 changes. As long as a homing sequence is in execution, you should not start another one. If this happens, the last homing is aborted and a warning is generated by setting SRL.7 = 1. Remark: In motion programming tools like EasyMotion Studio, Technosoft provides for each intelligent drive/motor a collection of up to 32 homing procedures. These are predefined TML functions, which you may call after setting the homing parameters. You may use any of these homing procedures as they are, or use them as a starting point for your own homing routines. Typically a homing function requires setting the following parameters before calling it:
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