Reference Manual

PMAC 2 Software Reference

PMAC On-Line Command Specification 231

HOMEZ

Function

Do a Zero-Move Homing

Scope

Motor specific

Syntax

HOMEZ

HMZ

Remarks

This command causes the addressed motor to perform a zero-move homing search. Instead

of jogging until it finds a pre-defined trigger, and calling its position at the trigger the home

position, with this command, the motor calls wherever it is (commanded position) at the time

of the command the home position.

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 operation will be equal

to the axis offset minus the following error, not to zero.

Example

; On-line command examples

HOMEZ ............... ; Do zero-move homing search on the addressed motor

#1HMZ ............... ; Do zero-move homing search on Motor 1

#3HMZ#4HMZ ... ; Do zero-move homing search on Motors 3 and 4

........................... ; Buffered motion program examples

HOMEZ1

HOMEZ2,3

........................... ; On-line commands issued from PLC program

IF (P1=1)...... ;

CMD”#5HOMEZ” ; Program issues on-line command

P1=0............. ; So command is not repeatedly issued

ENDIF