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Turbo PMAC/PMAC2 Software Reference

Turbo PMAC Program Command Specification 438

Note:

Unlike an on-line homing command, the motor numbers in a program homing

command are specified after the word HOME itself, not before. In addition, an on-

line homing command simply starts the homing search – it does not give any

indication when the search is complete; but a program homing command

automatically recognizes the end of the search, and then continues on in the

program. A PLC program can only issue an on-line HOME command.

Examples:

HOME1 ;These are motion program commands

HM1,2,3

HOME1..3,5..7

HM1..8

#1HOME ;These are on-line commands

#1HM,#2HM,#3HM

See Also:

Homing-Search Moves (Basic Motor Moves)

On-line motor commands HOME, HOMEZ

Program command HOMEZ

HOMEZ

Function: Programmed Zero-Move Homing

Type: Motion program

Syntax: HOMEZ {constant} [,{constant}...]

HOMEZ {constant}..{constant} [,{constant}..{constant}...]

HMZ {constant} [,{constant}...]

HMZ {constant}..{constant} [,{constant}..{constant}...]

where:

 {constant} is an integer from 1 to 32 representing a motor number.

This commands causes the specified motors to go through pseudo-homing search cycles. In this

operation, the present commanded position of the motor is made the zero position for the motor and the

new commanded position for the motor.

If there is following error and/or an axis definition offset at the time of the HOMEZ command, the reported

position after the command will be equal to the negative of the following error plus the axis definition

offset.

Note that the motors must be specified directly by number, not the matching axis letters. Specify which

motors are to be homed. All motors specified in a single HOMEZ command (e.g. HOMEZ1,2) will home

simultaneously.

Note:

Unlike an on-line homing command, the motor numbers in a program homing

command are specified after the word HOMEZ itself, not before.

Examples:

HOMEZ1 ;These are motion program commands

HMZ1,2,3

HOMEZ1..3,5..7

HMZ1..8

#1HOMEZ ;These are on-line commands

#1HMZ,#2HMZ,#3HMZ