Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 373)

System Programs • System Program 25 - Home 351
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
state=0
HomeVel = -HomeVel
limcnt = limcnt+1
IF limcnt < 2 JMP bkwrd
MOVV 0
JMP err ;saw both limit switches, no home switch
mf3: MOVV 0 ;state=4 home switch was on
WAIT VEL1 < .10
DISLIM=OFF ;in case we hit a limit switch here
MOVV -creep ;make sure we didn’t go through the switch
WAIT HSWSTAT=ON
atedge: DISLIM=OFF
IF HSWSTAT=OFF JMP ae2 ;if already off switch, creep onto switch on the
; switch, move off then creep on looking for (-) edge
MOVV -creep
WAIT HSWSTAT=OFF
MOVV 0
;don’t look for rev limit, needed if using reverse
; limit as home switch
ae2: S2 OFF
state=0 ;we are off the switch, creep onto the switch
S3 ON ;looking for (-) edge of switch
MOVV creep
WAIT state>1
DISLIM=OFF
IF INDEXEN=ON JMP jonsw1 ;if will be looking for index, do it
MOVV 0 ;else, move to offset
MOVD HOFFS,V=HVEL
JMP finish
jonsw0: MOVV creep ;looking for index, move forward w/ creep speed
jonsw1: FIDX1 OFF ;clear index flag
IDX1=on ;turn on index1 interrupt
WAIT FIDX1=ON ;wait for index
ifound: MOVV 0
WAIT VEL1 < .1 ;wait for decel to about finish
DWELL .1 ;dwell to let move end
temp=PCMD-IX1P1-HOFFS ;calculate current position
DP temp ;note: dp does not affect FE
MOVD -temp,V=HVEL ;move to the zero spot
JMP fsdh ;jump to finish, skip Define Home
err: DISLIM=OFF ;restore previous settings
JACCEL = origJacc
JDECEL = origJdec
SYSERROR = 72
DWELL 5 ;wait for syserror to abort program
finish: DWELL 1
DH
fsdh: FOUNDHOME = ON
DISLIM=OFF ;restore previous settings
JACCEL = origJacc
JDECEL = origJdec
END