Lenze E94P PositionServo with MVOB - Manual (Page 93)

PM94H201B_13xxxxxx_EN L 91
Reference
Table 38: HOME
HOME Execute homing routine Statement
Purpose Used to initiate homing.
Syntax HOME
Remarks Homing is initiated from the user program using the ‘HOME’ command. The HOME command is a
blocking instruction that prevents further execution of the Main Program until homing operation is
completed. Any events that are enabled while homing is carried out will continue to process.
WARNING!
If using firmware prior to 4.50 then execution of homing functionality does not prevent
simultaneous execution of subsequent programming statements and it is required to
immediately follow the HOME command with the following code line:
WAIT UNTIL VAR_EXSTATUS & 0x400000 == 0x400000.
See Also
Example:
{Statements…}
HOME ;initiate homing routine
Table 39: ICONTROL ON/OFF
ICONTROL
ON/OFF Enables interface control Statement
Purpose Enables/Disables interface control. Effects bit #27 in DSTATUS register and system flag F_ICONTROLOFF.
All interface motion commands and commands changing any outputs will be disabled. See Host interface
commands manual for details. This command is useful when the program is processing critical states
(example limit switches) and can’t be disturbed by the interface.
Syntax ICONTROL ON
ICONTROL OFF Enables Interface control
Disables interface control
Remarks After reset interface control is enabled by default.
See Also
Example:
EVENT LimitSwitch IN_A1 RISE ;limit switch event
Jump LimitSwitchHandler ;jump to process limit switch
ENDEVENT
V0=0 ;V0 will be used to indicate fault condition
EVENT LimitSwitch ON ;Turn on event to detect limit switch activation
Again:
HALT ;system controlled by interface and Events
LimitSwitchHandler:
EVENTS OFF ;turn off all events
ICONTROL OFF ;disable interface control
STOP MOTION QUICK
DISABLE ;DISABLE
V0=1 ;indicate fault condition to the interface
ICONTROL ON ;Enable Interface Control
EVENTS ON ;turn on events turned off by ‘EVENTS OFF’
GOTO AGAIN