Reference Manual

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PMAC 2 Software Reference

230 PMAC On-Line Command Specification

To do a hold of the currently addressed coordinate system in a manner that permits jogging of

the motors in the coordinate system while in feed hold mode, refer to the \ “program hold”

command.

The H command is very similar in effect to a %0 command, except that deceleration is

controlled by Ix95, not Ix94, and execution can be resumed with an R or an S command,

instead of a %100 command. In addition, H works under external time base, whereas a %0

command does not.

Full speed execution along the path will commence again on an R or S command. The ramp

up to full speed will also take place at a rate determined by Ix95 (full time-base value, either

internally or externally set). Once the full speed is reached, Ix94 determines any time-base

changes.

See Also

Stopping Commands (Making Your Application Safe)

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

Time-Base Control (Synchronizing PMAC to External Events)

I-variables I52, Ix93, Ix94, Ix95

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

JPAN Connector Pin 12

HOME

Function

Start Homing Search Move

Scope

Motor specific

Syntax

HOME

Remarks

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 Ix03 and Ix19-

Ix26, plus encoder I-variables 2 and 3 for that motor’s position encoder.

The on-line home command simply starts the homing search routine. 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.

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