Reference Manual

PMAC 2 Software Reference
320 PMAC Program Command Specification
If the specified line label is not found, the program will stop, and the coordinate system’s
Run-Time-Error bit will be set.
Note:
Modern philosophies of the proper structuring of computer code strongly
discourage the use of GOTO, because of its tendency to make code
undecipherable.
Example
GOTO750
GOTO35000
GOTO1
GOTO(50+P1)
N51 P10=50*SIN(P11)
GOTO60
N52 P10=50*COS(P11)
GOTO60
N53 P10=50*TAN(P11)
N60 X(P10)
See Also
Writing a Motion Program;
Program commands CALL, GOSUB, N, O.
HOME
Function
Programmed Homing
Type
Motion program
Syntax
HOME {constant} [,{constant}...]
HOME {constant}..{constant} [,{constant}..{constant}...]
HM {constant} [,{constant}...]
HM {constant}..{constant} [,{constant}..{constant}...]
where:
• {constant} is an integer from one to eight representing a motor number.
Remarks
This causes the specified motors to go through their homing search cycles. The motors
must be specified directly by number, not the matching axis letters. Also specify which
motors are to be homed. All motors specified in a single HOME command (e.g.,
HOME1,2) will start their homing cycles simultaneously. To home some motors
sequentially, specify them in consecutive commands (e.g., HOME1 HOME2), even if on
the same line.
Any previous moves will come to a stop before the home moves start. No other program
statement will be executed until all specified motors have finished homing. Homing
direction, speed, acceleration, etc., are determined by motor I-variables. If a motor is
specified that is not in the coordinate system running the program, the command or
portion of the command will be ignored, but an error will not be generated.
The speed of the home search move is determined by Ix23. If Ix23=0 then the
programmed home command for that axis is ignored.