ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 276)

int Speed
g_iAxisNum = 1
TimeOut = 5000000
Speed = -20000
if
(g_iAxisNum==1)
Homing (a1,TimeOut,Speed)
else if (g_iAxisNum==2)
Homing (a2,TimeOut,Speed)
else
TRACE("Error axis id: %", g_iAxisNum)
end if
end function
function Homing (AXIS as,int TimeOut,int speed)
int StartTime
int delta
float L_Current
float Command
as.mo=0
as.um=5
as.rm=0
as.sd=1000000000
as.ac=1000000
as.dc=as.ac
as.sf=0
as.mo=1
as.jv=speed
L_Current=as.cl[1]*.95
//the machine is at a wall when a current is reached but there is no movement
as.hm[2]=-20
as.hm[3]=0
as.hm[4]=0
as.hm[5]=0
as.bg
StartTime = as.tm
Command = abs(as.dv[1])
while (Command<=L_Current)
delta = abs(as.tm - StartTime)
if ( delta >= TimeOut)
as.st
return
end
Command = abs(as.dv[1])
end
as.hm[1]=1
as.pa=0
as.bg
end function
B.6 Inputs
B.6.1 MaestroAnalogInputs
// Main
int go
float k
// Entry point of the application.
function run()
Maestro Software Manual Appendix B: Sample Programs
MAN-MASSW (Ver. Q)
B-24