Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 370)

348 System Programs • System Program 25 - Home
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
Program Listing
;Source File Name: HOME_STD.QPS
;Version: 3.00
;Tested with IQMaster Version: 3.00
;Tested with IQ firmware Version: 3.00
;------------------------------ Description ------------------------------
;This is the default ’Home’ program.
;This program is saved as System Program #25 in standard personality modules.
;The source is NOT saved in standard personality modules.
;
; This home program will home to a home switch, or an index or
; both. If limit switches are enabled and a limit switch is hit before the
; home switch is seen, the axis will change direction and continue looking
; for the home switch. Once the home switch is seen, the axis will slowly
; look for the (-) edge of the home switch (the edge of the switch that
; will be seen first when moving forward and coming on to the switch). If
; the index is not enabled, this edge position will be the reference position
; for the offset move. If the index is enabled the axis will continue to
; move into the switch and look for the next index. Once the index is seen,
; the index position will be reference position for the offset move. Hitting
; a limit switch during the offset move is not allowed and will cause a fault.
;
;v2.10 5/24/94 Changed S3 CONT and S5 CONT to ON commands so that no
; overlapping of scanned events would happen.
; Removed some unused labels.
;v3.00 2/13/96 Added compiler options statements
;
;------------------- V variables used --------------------
TITLE "Home_std"
PGMTYPE = MAINPGM ;Set compiler options
DEBUG = OFF
ASSIGN origJacc V1 ;holds original Jog accel
ASSIGN origJdec V2 ;holds original Jog decel
ASSIGN creep V3 ;Slow speed into index
ASSIGN HomeVel V4 ;HomeVel (changed during program execution)
ASSIGN limcnt v5 ;how many limit switches has it seen so far?
ASSIGN temp V6 ;temp for calculations
ASSIGN state V7 ;State variable for Home program
;initial 0 ;Initial state
;FL & RL Hit 1 ;both forward and reverse limits hit at same time
;FLHit 2 ;Forward limit hit state
;RLHit 3 ;Reverse limit hit state
;HS edge ON 4 ;Home switch edge on
;HS edge OFF 8
;IOn 16 ;Index hit
;---------- No G variables, F or B flags used ------------
;
;------------------------ Inputs -------------------------
;Input 01 ;if limit switches are enabled, this is the reverse limit
;Input 02 ;if limit switches are enabled, this is the forward limit
;Input 05 ;if home switch is enabled, this is it
;Input 06 ;if home input is enabled,
; this input can start the home program
;
;------------------------ Outputs ------------------------
;Output 06 ;if Home Sequence complete output is enabled, this
; output will come on after the axis has successfully
; homed
;------ Optional Accessories Required/Supported ----------
;Operator Terminal - SUPPORTED for reporting errors