COTRUST CTH200 Series - Page 204

Appendix
194
MC_CIRCLE_R
Two axis circular interpolation
relative motion instruction
Nonsupport
Support
MC_CIRCLE_A
Two axis circular interpolation
absolute motion instruction
Nonsupport
Support
MC_SET_CI_MODE
Set continuous interpolation
function instruction
Nonsupport
Support
HOMING instruction
① Function name: MC_HOMING
② Function: Find device origin by setting parameters such as homing mode.
The relationship between the axis number and external reset IO signal (such as homing Z pulse):
Axis 0 ——I0.2 (HSC0, SM37.0) Axis 1 ——I1.0 (HSC1, SM47.0)
Axis 2 ——I1.4 (HSC2, SM57.0) Axis 3 ——I0.5 (HSC4, SM147.0)
If the homing mode refers to the origin switch (mode 3 or 4), connect origin switch signal
(the HOMING_SW parameter of the instruction) to the corresponding point above;
otherwise, the origin cannot be found.
③ Parameter
Name
I/O
Description
Type
Value
range
Note
E_STOP
IN
Emergency stop bit
1: valid, 0: invalid
BOOL
0~1
1 Run only when RUN
=1 and E_STOP =0.
2 When E_STOP=1,
RUN reset internal.
LIMIT_SW_CC
IN
CCW counterclockwise
BOOL
0~1