Homing Galils under SECI - ISISComputingGroup/ibex_developers_manual GitHub Wiki

Wiki > Galils Under SECI

Home methods

  • Home call script
  • None
  • Home signal
  • Reverse Limit
  • Forward Limit

Home call script

  1. Send the script in the home call variable to the Galil, and XQ on a specified thread
  2. Wait until _XQ for that thread is false
  3. If motor is set to de-energise after move, send MO
  4. Wait 0.6 seconds
  5. If apply home position is true, apply the home position

None

  1. Send SH and BG
  2. Wait for the move in progress to be false
  3. If there is a home offset, PR to the home offset * motor steps, send SH and BG, wait for the move in progress to be false
  4. Send ST
  5. Wait for the move in progress to be false
  6. If motor is set to de-energise after move, send MO
  7. Wait 0.6 seconds
  8. If apply home position is true, apply the home position

Home Signal

  1. Set speed to home speed
  2. Send HM, SH and BG
  3. Wait for the move in progress to be false
  4. If there is a home offset, PR to the home offset * motor steps, send SH and BG, wait for the move in progress to be false
  5. Send ST
  6. Wait for the move in progress to be false
  7. If motor is set to de-energise after move, send MO
  8. Wait 0.6 seconds
  9. If apply home position is true and the stop code is 10 (Stopped after homing), apply the home position

Reverse Limit

  1. If the reverse limit is true, JG at home speed, send SH and BG, wait until the limit switch is off, ST, wait for move in progress to be false
  2. Set JG to minus the home speed, send SH and BG
  3. Wait for the move in progress to be false
  4. If there is a home offset, PR to the absolute of the home offset * motor steps, send SH and BG, wait for the move in progress to be false
  5. Send ST
  6. Wait for the move in progress to be false
  7. If motor is set to de-energise after move, send MO
  8. Wait 0.6 seconds
  9. If apply home position is true, the forward limit is false, the reverse limit is true, and the stop code is 3 (Decelerating or stopped by reverse limit switch or soft limit BL), apply the home position

Forward Limit

  1. If the forward limit is true, JG at minus the home speed, send SH and BG, wait until the limit switch is off, ST, wait for move in progress to be false
  2. Set JG to home speed, send SH and BG
  3. Wait for the move in progress to be false
  4. If there is a home offset, PR to the absolute of minus the home offset * motor steps, send SH and BG, wait for the move in progress to be false
  5. Send ST
  6. Wait for the move in progress to be false
  7. If motor is set to de-energise after move, send MO
  8. Wait 0.6 seconds
  9. If apply home position is true, the forward limit is true, the reverse limit is false, and the stop code is 2 (Decelerating or stopped by forward limit switch or soft limit FL), apply the home position