OR search for home
IMM PGM MIP
USAGE ♦ ♦
SYNTAX xxORnn
PARAMETERS
Description xx [ int ] - axis number
nn [ int ] - home mode
Range xx - 0 to MAX AXES
nn - 0 to 6 where:
0 = Find +0 Position Count
1 = Find Home and Index Signals
2 = Find Home Signal
3 = Find Positive Limit Signal
4 = Find Negative Limit Signal
5 = Find Positive Limit and Index Signals
6 = Find Negative Limit and Index Signals
Units xx - none
nn - none
Defaults xx missing: error 37, AXIS NUMBER MISSING
out of range: error 9, AXIS NUMBER OUT OF RANGE
nn missing: error 38, COMMAND PARAMETER MISSING
out of range: error xx2, PARAMETER OUT OF RANGE
DESCRIPTION This command executes a Home search routine on the axis specified by xx. If xx
= 0, a home search routine is initiated sequentially on all installed axes. If nn is
missing, the axes will search for home using the mode specified using OM
command. If nn = 0, the axes will search for zero position count. If nn = 1, the
axis will search for combined Home and Index signal transitions. If nn = 2, the
axes will search for Home signal transition only. If nn = 3, the axes will search
for positive limit signal transition. If nn = 4, the axes will search for negative
limit signal transition. If nn = 5, the axes will search for positive limit and index
signal transition. If nn = 6, the axes will search for negative limit and index
signal transition.
At the end of a home search routine, the position of axes is reset to the value
specified using SH command.
The home search motion status can be monitored with the Motion Done (MD)
status command. If a fault condition such as E-stop occurs while home search is
in progress or if this command is issued to an axis before enabling it, the
controller returns error xx20, “HOMING ABORTED”.
For a detailed description of the home search routine see the Home - The Axis
Origin chapter in the Motion Control Tutorial section
.
3-106 Section 3 – Remote Mode
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