User's Manual

HARSFEN0602
Host logics only.
13.4.3 Automatic routines
Many events can be tied to automatic handler routines in the user program. To learn more about
automatic user program routines, refer the section "Automatic subroutines".
The table below summarizes some of the properties off automatic routines.
Topic Comment
Capture probability: High. An input pulse may slip away unnoticed only if the user
program is not running, the input is masked, or the pulse is so
short it does not pass the input filters.
Deterministic delay: No, although in most cases the automatic routine will start
within 2msec.
Use: User program logic.
13.4.4 Real time – Motion management, Homing, Capture, and Flag
Events can do several things in real-time response.
These are:
Stopping the motor, or prevention move in one direction (refer the section on "The Stop
management" and the chapter "Unit Modes")
Begin a new motion (refer the BG command in the Command Reference Manual and the
chapter on "Unit Modes")
Disable the power amplifier
Log the position counters
Modify the value of a position counter, and optionally stop.
Flag to an output connector pin.
The table below summarizes some of the properties off automatic routines.
Topic Comment
Capture probability: High. An input pulse may slip away unnoticed only if the user
program is not running, the input is masked, or the pulse is so
short it does not pass the input filters.
Deterministic delay: Yes. Position logging and value setting are made immediately
and yield accurate results regardless of the speed.
Position flagging is made within 100usec.
Motion management functions are responded at the next
controller sampling time.
Use: Homing (Setting an absolute origin to the incremental position
sensors)
Motion management.
High speed signaling.
13.5 Homing and Capture
13.5.1 What Is Homing?
The Amplifier uses incremental position sensors. Therefore, the Amplifier can only tell the
distance the motor traveled since power on, but not where the position counting started.
The process of teaching the Amplifier its absolute position is called “Homing”.
Homing of the main position counter (PX) typically serves for: