Reference Manual

Turbo PMAC/PMAC2 Software Reference

Turbo PMAC On-line Command Specification 326

If the R or S command is issued when any motor is not commanding its feedhold position, Turbo PMAC

will reject the command with an error, reporting an ERR0017 if I6 has been set to 1 or 3.

See Also:

Stopping Commands (Making an Application Safe)

Control-Panel Port HOLD/ Input (Connecting Turbo PMAC to the Machine)

Time-Base Control (Synchronizing Turbo PMAC to External Events)

I-variables Isx93, Isx94, Isx95

On-line commands <CTRL-O>, %, %{constant}, A, K, \, Q

JPAN Connector Pin 12

HOME

Function: Start Homing Search Move

Scope: Motor specific

Syntax: HOME

This command causes the addressed motor to perform a homing search routine. The characteristics of the

homing search move are controlled by motor I-variables Ixx97 and Ixx19-Ixx26, plus encoder I-variables

2 and 3 for that motor's position encoder.

The on-line home command simply starts the homing search routine. Turbo PMAC provides no

automatic indication that the search has completed (although the In-Position interrupt could be used for

this purpose) or whether the move completed successfully. Polling, or a combination of polling and

interrupts, is generally used to determine completion and success.

By contrast, when a homing search move is given in a motion program (e.g. HOME1,2), the motion

program will keep track of completion by itself as part of its sequencing algorithms.

Note the difference in syntax between the on-line homing search move command (#xHOME) and the

buffered motion program homing search move statement (HOMEn)

If there is an axis offset in the axis-definition statement for the motor, and/or following error in the motor

servo loop, the reported position at the end of the homing search move will be equal to the axis offset

minus the following error, not to zero.

Example:

HOME ; Start homing search on the addressed motor

#1HM ; Start homing search on Motor 1

#3HM#4HM ; Start homing search on Motors 3 and 4