Reference Manual

PMAC 2 Software Reference
PMAC Program Command Specification 321
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.
Example
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 one to eight representing a motor number.
Remarks
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 a 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.
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.
Example
HOMEZ1 ;These are motion program commands
HMZ1,2,3
HOMEZ1..3,5..7
HMZ1..8
#1HOMEZ ;These are on-line commands
#1HMZ,#2HMZ,#3HMZ