Jump to content
OMRON Forums

Homing Routine Timers


Recommended Posts

Here is a snippet for X axis in my Home.plc

 

I understand the concept about calling Timers in a subroutine via creating a subroutine in the Libraries folder, but I would like to keep the execution as local as possible to the plc. The variable I'm most concerned with is AXIS1_DWELL_TIME.

 

Any insight or constructive criticism to optimize or clean up this routine would be appreciated.

 

I've included the snippet in a file as well because of the formatting within this thread window.

 

/**********************

AXIS 1

**********************/

// WATCH FOR MOTOR #1 HOME COMMAND

if ((AXIS1_HOME_STATE == 0 && M1_HOME_INPROGRESS == 1) &&

(AXIS1_HOME_POS != 0)){

AXIS1_HOME_STATE=1;

}

 

// WAIT FOR AXIS TO BE AT HOME OFFSET POS

if (AXIS1_HOME_STATE == 1 && abs(M1_ACTUAL_VELOCITY) < 1000 &&

M1_IN_POS == 1 && M1_HOME_COMPLETE == 1){

if (AXIS1_TIMER_STARTED==0){

AXIS1_DWELL_TIME = (200 * 8388608)/Sys.ServoPeriod;

TIMER5_START = Sys.ServoCount;

AXIS1_TIMER_STARTED = 1;

}

TIMER5_ELAPSED = Sys.ServoCount - TIMER5_START;

 

AXIS1_HOME_OFF_COMPARE = abs(M1_COUNTER_POS - M1_HOME_POS) -

abs(M1_HOMEOFFSET/16);

 

if (AXIS1_TIMER_STARTED == 1 && TIMER5_ELAPSED >

AXIS1_DWELL_TIME && abs(AXIS1_HOME_OFF_COMPARE) <

AXIS1_AT_HOME_BANDWIDTH){

AXIS1_TIMER_STARTED = 0;

AXIS1_HOME_COMPLETE = 0;

AXIS1_HOME_STATE = 2;

}

}

close

P3Home.txt

Link to comment
Share on other sites

  • Replies 1
  • Created
  • Last Reply

Top Posters In This Topic

Top Posters In This Topic

One option is to put the timer into a subroutine inside the PLC instead of a subprogram. In the below example, PLC 1 uses a subprogram timer to increment P1 every second while PLC 2 uses a subroutine.

 

Calling the subroutine does not allow variable passing, so you will need to handle that on your own if you use this method.

 

OPEN PLC 1
P1++
CALL DelayTimer.sec(1)
CLOSE

OPEN PLC 2
P2++
Gosub 999
RETURN
N999:
LOCAL EndTimeSec
EndTimeSec = Sys.Time + 1
WHILE (EndTimeSec > Sys.Time) {} 
RETURN 
CLOSE

Link to comment
Share on other sites

Guest
This topic is now closed to further replies.
 Share


×
×
  • Create New...