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How to command a home operation from HMI or PC app

Products: ACR9000,9030,9040,9600,9630,9640

Feature added in OS:  ACR90xx 1.28/IEC96xx 2.28. See also   Senary Axis Flags

The AcroBasic command for homing an axis is JOG HOME. If an HMI or PC (ComACRserver) application wanted to initiate a home sequence, the app would need to send a string command. For example:

"AXIS0 JOG HOME 1"

In general sending ASCII string commands to the ACR is less efficient than setting a bit or parameter which uses a binary transfer method. To take advantage of the binary method, flags have been added for each axis to initiate homing.

 

  Axis Number
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Jog Home Request 17160 17192 17224 17256 17288 17320 17352 17384 17416 17448 17480 17512 17544 17576 17608 17640
Jog Home Direction 17161 17193 17225 17257 17289 17321 17353 17385 17417 17449 17481 17513 17545 17577 17609 17641
Jog Home Request Failed 17162 17194 17226 17258 17290 17322 17354 17386 17418 17450 17482 17514 17546 17578 17610 17642

 

Jog Home Request R/W Initiates JOG HOME sequence for the axis with direction determined by Jog Home Direction Flag
Jog Home Direction R/W If flag is off, Jog Home Request will execute JOG HOME +1 sequence for the axis. If flag is set, Jog Home Request will execute JOG HOME -1 sequence.
Jog Home Request Failed R Flag is set if the request failed (could not even start), due to Kill All Motion or the axis is currently in motion

 

Interact Xpress Example

Sample for VB.NET

Public Sub HomeAxis(ByVal Axis As Integer, ByVal NegativeDirection As Boolean)

        Try

            Dim BitNum As Integer = Axis * 32

           ' set direction bit

            ACR.SetFlag(17161 + BitNum, NegativeDirection, True)

           'now go home

            ACR.SetFlag(17160 + BitNum, True, True)         

        Catch ex As Exception

 

        End Try

    End Sub

 

 

 

 

jw Feb 2013