Difference between revisions of "Program Examples:Homing"
(Created page with "The following example demonstrates how to issue a homing procedure on all the axes. A "For Loop" iterates over the axes that are attached to CDHD motion drives, sets the desi...") |
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| Line 13: | Line 13: | ||
' Author: Nir Geller | ' Author: Nir Geller | ||
' Global Variables Used: num_Of_Motion_Drives as long - Number of ECat MOTION DRIVES found by EC_SETUP.PRG | ' Global Variables Used: num_Of_Motion_Drives as long - Number of ECat MOTION DRIVES found by EC_SETUP.PRG | ||
| − | ' | + | ' Axes[64] - An array that holds all the axes in the system. Defined in CONFIG.PRG |
' History: 9.11.14 - Created | ' History: 9.11.14 - Created | ||
' Description: This program example iterates over the axes and calls homing procedure. | ' Description: This program example iterates over the axes and calls homing procedure. | ||
| − | ' | + | ' The homing parameters setting and the homing procedure is CDHD specific |
'************************************************************************************************** | '************************************************************************************************** | ||
| − | '************** | + | '************** Explanation ************** |
| − | ' | + | ' Before starting the homing procedure the user must set homing parameters in the drive. |
| − | ' | + | ' These parameters must be in "drive units", therefore, the desired homing velocity is translated to |
| − | ' | + | ' drive units by multiplying it by the velocity factor and by a factor of 1000 in order to scale from |
| − | ' | + | ' seconds to milliseconds. The same is done for homing acceleration. |
| − | ' | + | '********************************************************************************************** |
Program | Program | ||
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dim dHomingFactorslow as double = 0.25 | dim dHomingFactorslow as double = 0.25 | ||
dim dHomingFactorAcc as double = 0.1 | dim dHomingFactorAcc as double = 0.1 | ||
| − | dim dSec2msec | + | dim dSec2msec as double = 1000 ' this is used to convert from typical user time-units [msec] to typical drive time-units [sec] |
| − | dim dHomingVelocity | + | dim dHomingVelocity as double = 0 |
dim dHomingAcceleration as double = 0 | dim dHomingAcceleration as double = 0 | ||
dim i as long = 0 | dim i as long = 0 | ||
Revision as of 08:52, 9 November 2014
The following example demonstrates how to issue a homing procedure on all the axes.
A "For Loop" iterates over the axes that are attached to CDHD motion drives, sets the desired homing parameters and invokes EC_SLAVE_HOME to start the homing procedure. The homing parameters must be set in the "Drive Units". Therefore, the user values are converted to drives units by multiplying them in the relevant motion factor and by a factor of 1000 to scale from sec to msec.
'**************************************************************************************************
' File: HOME.PRG
' Purpose: Home all the drives
' Version: 1.00
' Author: Nir Geller
' Global Variables Used: num_Of_Motion_Drives as long - Number of ECat MOTION DRIVES found by EC_SETUP.PRG
' Axes[64] - An array that holds all the axes in the system. Defined in CONFIG.PRG
' History: 9.11.14 - Created
' Description: This program example iterates over the axes and calls homing procedure.
' The homing parameters setting and the homing procedure is CDHD specific
'**************************************************************************************************
'************** Explanation **************
' Before starting the homing procedure the user must set homing parameters in the drive.
' These parameters must be in "drive units", therefore, the desired homing velocity is translated to
' drive units by multiplying it by the velocity factor and by a factor of 1000 in order to scale from
' seconds to milliseconds. The same is done for homing acceleration.
'**********************************************************************************************
Program
dim dHomingFactorFast as double = 0.5
dim dHomingFactorslow as double = 0.25
dim dHomingFactorAcc as double = 0.1
dim dSec2msec as double = 1000 ' this is used to convert from typical user time-units [msec] to typical drive time-units [sec]
dim dHomingVelocity as double = 0
dim dHomingAcceleration as double = 0
dim i as long = 0
' **** Home all the drives ****
for i = 1 to num_Of_Motion_Drives
attach Axes[i]
' **** Set homing parameters ****
' set homing method = 34 (pulse index, positive direction)
call EC_SLAVE_SET_HOMING_PARAMETERS(Axes[i], HOMING_METHOD, 34)
' set homing offset
call EC_SLAVE_SET_HOMING_PARAMETERS(Axes[i], HOMING_OFFSET, 0)
' set FAST homing speed = 10
dHomingVelocity = (Axes[i].VCruise * Axes[i].VFac * dSec2msec) * dHomingFactorFast
call EC_SLAVE_SET_HOMING_PARAMETERS(Axes[i], FAST_HOMING_SPEED, dHomingVelocity)
' set SLOW homing speed = 2
dHomingVelocity = (Axes[i].VCruise * Axes[i].VFac * dSec2msec) * dHomingFactorSlow
call EC_SLAVE_SET_HOMING_PARAMETERS(Axes[i], SLOW_HOMING_SPEED, dHomingVelocity)
' set homing acceleration/deceleration
dHomingAcceleration = (Axes[i].amax * Axes[i].afac * dSec2msec^2) * dHomingFactorAcc
call EC_SLAVE_SET_HOMING_PARAMETERS(Axes[i], HOMING_ACCELERATION, dHomingAcceleration)
call EC_SLAVE_HOME(Axes[i], 120000) ' Homing timeout: 120,000 msec
Axes[i].en = 0
detach Axes[i]
next
End Program
The example corresponds to commit SHA-1: 4fe3c7018de141d855eb556d3e637e0283807314 in GIT.