ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 183)

The following command sequences can implement homing motion:
function run()
sync( 0, 10 )
//work with DS402 motion object required sync mechanism
a1.opm=6 //select operation mode for axis a1
a1.ato=10000
//statusword waiting timeout
a1.psw=100 //define position windows
a1.pswt=2 //define position windows time
a1.mo=1
//motor on command
a1.hac=5000000
//homing acceleration
a1.hsv=5000 //speed during search for switch
a1.hzv=3000 //speed during search for zero
a1.hof=100 //homing offset definition
a1.hom=1 //homing method definition
a1.hm=1 //HM mode activation
a1.awm
//wait for motion completed (bit 10 of SW is ON)
a1.mo=0 //motor off command
end function
10.5.2.2 Description of Homing Mode Commands
The user can specify the speed, acceleration and method of homing. An additional
command, HomingOffset, is used to displace zero in the user’s coordinate system from
the home position. There are two homing speeds. In a typical cycle, the faster speed is
used to find the home switch HomingSwitchVelocity and the slower speed is used to
find the index pulse HomingZeroVelocity. Command HomingMethod determines the
method used during homing. Methods from 1 to 35 can be defined (for more
information, view the DSP 402 Homing Methods section of the “Elmo CANopen DS
402 Implementation Guide”).
10.5.2.3 Features of Homing Operating Mode Using for
Group (Vector)
Homing for Group (Vector) DS402 can be implemented by the following command
sequence:
function run()
sync( 0, 10 ) //work with DS402 motion object required sync mechanism
g1.opm=6 //select operation mode for group g1
g1.ato=10000 //statusword waiting timeout
g1.psw=100 //define position windows
g1.pswt=2 //define position windows time
g1.mo=1 //motor on command
g1.hac=5000000 //homing acceleration
g1.hsv=4000 //speed during search for switch
g1.hzv=2000 //speed during search for zero
a1.hof=100 //homing offset definition for axis a1
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-38