Products: ACR9000,9030,9040,9600,9630,9640
Feature added in OS: ACR90xx 1.28/IEC96xx 2.28. See also Senary Axis Flags
The AcroBasic command for homing an axis is JOG HOME. If an HMI or PC (ComACRserver) application wanted to initiate a home sequence, the app would need to send a string command. For example:
"AXIS0 JOG HOME 1"
In general sending ASCII string commands to the ACR is less efficient than setting a bit or parameter which uses a binary transfer method. To take advantage of the binary method, flags have been added for each axis to initiate homing.
| Axis Number | ||||||||||||||||
| 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | |
| Jog Home Request | 17160 | 17192 | 17224 | 17256 | 17288 | 17320 | 17352 | 17384 | 17416 | 17448 | 17480 | 17512 | 17544 | 17576 | 17608 | 17640 |
| Jog Home Direction | 17161 | 17193 | 17225 | 17257 | 17289 | 17321 | 17353 | 17385 | 17417 | 17449 | 17481 | 17513 | 17545 | 17577 | 17609 | 17641 |
| Jog Home Request Failed | 17162 | 17194 | 17226 | 17258 | 17290 | 17322 | 17354 | 17386 | 17418 | 17450 | 17482 | 17514 | 17546 | 17578 | 17610 | 17642 |
| Jog Home Request | R/W | Initiates JOG HOME sequence for the axis with direction determined by Jog Home Direction Flag | |||||||
| Jog Home Direction | R/W | If flag is off, Jog Home Request will execute JOG HOME +1 sequence for the axis. If flag is set, Jog Home Request will execute JOG HOME -1 sequence. | |||||||
| Jog Home Request Failed | R | Flag is set if the request failed (could not even start), due to Kill All Motion or the axis is currently in motion | |||||||
Interact Xpress Example
Sample for VB.NET
Public Sub HomeAxis(ByVal Axis As Integer, ByVal NegativeDirection As Boolean)
Try
Dim BitNum As Integer = Axis * 32
' set direction bit
ACR.SetFlag(17161 + BitNum, NegativeDirection, True)
'now go home
ACR.SetFlag(17160 + BitNum, True, True)
Catch ex As Exception
End Try
End Sub
jw Feb 2013
