Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 372)

350 System Programs • System Program 25 - Home
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
DISLIM = ON ;if here, start by moving backward
MOVV HomeVel
;will be looking for (-) edge if Home switch already on
IF HSWSTAT=ON JMP C2
;This is the backward move section
bkwrd: S3 ON ;turn on (+) edge detector
WAIT state>1
c1: IF state>3 JMP c2
MOVV 0
IF state=2 JMP err ;hit forward limit while moving backward
S3 OFF
WAIT VEL1 > -0.1 ;wait until decel about done
MOVV -HomeVel ;move off limit switch
;wait until limit turns on (if decel took axis past
; switch)
WAIT i2=off
state=0 ;wait for both limit switches to be the same
S5 ON
WAIT state=1
state=0
HomeVel = -HomeVel
limcnt = limcnt+1
IF limcnt < 2 JMP fwrd
MOVV 0 ;saw both limit switches, no home switch
JMP err
c2: state=0
S4 ON ;now look for edge OFF of switch
WAIT state>1
S4 OFF
IF HSWSTAT=OFF JMP ae2
MOVV 0
WAIT VEL1 > -.10 ;wait for decel to about finish
; we are on the switch. If we see a limit before edge
; of switch, fault
limcnt=1
JMP c1
;This is the forward move section
fwrd: S3 ON ;enable edge ON detector
DISLIM = ON
MOVV HomeVel
WAIT state>1 ;wait for (-) edge or limit switch
IF state>3 JMP mf3 ;jump if saw (-) edge, not limit switch
MOVV 0 ;saw limit switch, stop
IF state=3 JMP err ;error: saw reverse limit while moving forward
S3 off
WAIT VEL1 < .10 ;wait for decel to about finish
MOVV -HomeVel ;move backward off (+) limit switch
WAIT i1=off
state=0
S5 ON
WAIT state=1
;S5 off
;delay .01 ;make sure S5 is off before clearing state