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How to use S/W flags for homing


Loc_luu
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I appreciate any suggestions and helps from community for the following codes for homing 2 motors.  The current code used H/W limit sensors but I want to disable HW flag and use SW flags instead. I tried to set I197=1, I124=$20000, I7212=0, I7213=0, I113-32000 and I could not make it to work.  Thanks for the help.

I124=131073;729                  
I224=131073;730
M316=0;731
M317=0;732
M318=0;733
I7212=2;734      capture on rising edge of a flag for Motor1
I7222=1;735      capture on flag low for Motor2
I7213=1;736      use PLIM1 as  flag(positive end limit) for Motor1
I7223=0;737      use HOME2 (home flag) as trigger flag
I123=12;738      Home speed with positive direction for Motor1
I223=30;739      Home speed with positive direction for Motor2
I126=0;740       no home offset for Motor1
I226=0;741       no home offset for Motor2
M145=0;742
M245=0;743
HOME1,2;744      Homing for Motor1 and 2
WHILE(M145=0ORM245=0);745
END WHILE;746
I123=-12;747     Home speed with negative direction for Motor1
I223=-30;748     Home speed with negative direction for Motor2
I7212=1;749      
I7222=10;750
M145=0;751
M245=0;752
I126=P126;753    P126=-10000 home offset for motor1
HOME1,2;754      Home move for motor 1 and 2
WHILE(M145=0);755
END WHILE;756
M318=1;757
I5211=50;758
WHILE(I5211>0);759
END WHILE;760
M318=0;761
WHILE(M413=0);762
END WHILE;763
I5211=14000;764
WHILE(I5211>0);765
END WHILE;766
M317=1;767
I5211=500;768
WHILE(I5211>0);769
END WHILE;770
M317=0;771
WHILE(M413=0);772
END WHILE;773
PSETX(P30)Y(P31);774
M313=0;775
M314=1;776
P273=M201;777
P264=M264;778
ENABLE PLC2,3;779
P211=1;780
CLOSE;781
OPEN PROG 103 CLEAR;784
PSETX(P30)Y(P31);785
CLOSE;786
OPEN PROG 111 CLEAR;789
M110=1;790
M111=0;791
M112=0;792
M115=0;793
M114=0;794
M113=1;795
I123=P123;796        P123=100 home speed with positive direction for motor1 
I124=8519681;797     hardware limit
I126=0;798           no home offset
I7212=2;799          capture on rising edge of a falg
I7213=1;800          using PLIM1 as flag (positve end limit)
HOME1;801            Home move for Motor1
I123=-P123;802       P123=100 home speed with negative direction for motor1  
I7212=1;803          capture on flag high
I126=P126;804        home offset -10000
HOME1;805            Homing move for motor1
M118=1;806
I5211=50;807
WHILE(I5211>0);808
END WHILE;809
M118=0;810
DWELL5000;811
M117=1;812
I5211=565;813
WHILE(I5211>0);814
END WHILE;815
M117=0;816
I124=8388609;817       
M113=0;818
M114=1;819
M110=0;820

I-variables

I111=32000;25966      
I112=16000;25967      
I113=0;25968          
I114=0;25969          
I114=0;25969
I115=0.25;25970
I116=1000;25971
I117=10000;25972
I118=0;25973
I119=100;25974
I120=0;25975
I121=50;25976
I122=32;25977
I123=-12;25978
I124=$20001;25979      
I125=$78200;25980
I126=-10000;25981
I127=0;25982
I128=50000;25983
I129=0;25984
I130=34800;25985
I131=1100;25986
I132=1100;25987
I133=9500;25988

I197=0;
I1711=32000;27566        
I1712=16000;27567        
I1713=0;27568
I1714=0;27569

I7211=0;33066
I7212=1;33067
I7213=1;33068
I7214=0;33069

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For homing, without absolute feedback, the axis must be moved to a position where an input is triggered to indicate an absolute position.  Software alone cannot determine an absolute position.

With software, the home position can be set equal to the current position using the HMZ command.

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