Installation guide

Programming Commands 127
MOVEHOME Motion Parameter
ACTION: Runs the motor until the home input is activated, captures and records the
position of the switch activation as home (electrical zero), then deceler-
ates the motor to a stop.
PROGRAM SYNTAX: MOVEHOME(axis)=expression
MOVEHOME=expression1, ... , expression 8
MOVEHOME(axis, ... ,axis)=expression, ... , expression
REMARKS: The axis specifies the number of the axis (1-8).
The sign of the expression determines the direction (positive or negative)
of the motion for the home cycle. The non-zero value of the number is
not significant. The commanded speed of the axis is determined by the
last SPEED command that was executed.
The MOVEHOME trigger can be EVENT1 input, EVENT2 input and/or
Encoder marker state. This trigger is defined by the user program Con-
figuration and Setup, and also by the EVENT1 or EVENT2 commands
if they have been executed prior to the MOVEHOME.
Prior to starting a MOVEHOME motion, the appropriate trigger input
(EVENT1 or EVENT2) is checked to see if it has already been trig-
gered. If the trigger is already enabled the ABSPOS and ENCPOS are
set to zero and no motion occurs. Otherwise, the motor accelerates at the
ACCEL rate to the commanded SPEED and continues at this speed until
the home trigger condition is met. The capture position is recorded when
the home trigger occurs. The motor decelerates to a stop at the DECEL
rate. Once at a stop, the distance traveled from the trigger becomes the
new ABSPOS and ENCPOS value. The exact position that the motor
was at when the trigger occurred becomes the zero position, or home.
The captured absolute position can be monitored by the CAPPOS com-
mand.
ACCEL
DECEL
SPEED
BUSY=1
BUSY=0 BUSY=0
MOVEHOME
MOVEHOME CYCLE
Note: The underlined text is the command required to
generate the velocity profile. The remaining text are related
commands.
Note 1
Note 2
Note 1: The Home switch activates and the current position
is captured.
Note 2: Motion is completed and the Absolute and Encoder
positions are set to the difference between the
captured position and the ending position.
Home Switch