User`s manual
Table Of Contents
- MPC-684 family
- The feature of the MPC-684
- Program development environment
- How to connect
- Input commands
- I/O check
- How to input program
- Edit of a program
- How to program save to the PC, load from the PC
- I/O control
- Variable, Array variable, String variable, Memory I/O
- Calculation
- Pulse generation
- Multi-task
- RS-232 communication
- Debugging
- Use touch panel
- Command List
Move to the origin (HOME)
HOME is the command for programming the movement of a robot back to the staring
point of its action.
Format
HOME n rate cond [n1 rate1 cond]
n: axis constant X_AZ_A
rate: pulse rate (pps)
cond: input condition INx_ONINx_OFF
Y
CW CCW
X
CW
CCW
Y
S1 (Y origin)
XS1 (X origin)
XS1=the 11
th
pin of J4 connector on the MPG-314 board.
Y
S1=the 13
th
pin of J4 connector on the MPG-314 board.
10 PG &H400
20 ACCEL ALL_A 5000
30 FEED ALL_A 0
40 GOSUB *HOME
50 END
60 *HOME
70 RMVL 500 500 0 0 /* move in an opposite direction from origin (CW)
80 WAIT RR(ALL_A)==0 /* wait until moving complete
90 HOME X_A -500 IN0_ON Y_A -500 IN0_ON /* CCW movement until the sensor turns on
100 WAIT RR(ALL_A)==0 /* wait until movement complete
110 STPS 0 0 0 0 /* setting current position to ZERO
120 PRSET_ACCEL ALL_A /* ACCEL parameters restore
130 FEED ALL_A 0 /* FEED reset
140 RETURN
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