ACS系列（8） ACS 控制器类的回零Home

1. 回零的方法有：

• Home at current position
• Home to hard stop
• Home to limit switch
• Home to home switch
• Home to index
• Home to hard stop and index
• Home to limit switch and index
• Home to home switch and index

2. 举例

• Home 当前位置

ACSPL+代码：

set FPOS(axis) = 0

或

set RPOS(axis) = 0

或

set A APOS(axis) = 0

• Home at hardstop

! 1. Enable motor

ENABLE (axis)

! 2. Reduce motor current saturations

XCURI(axis) = 5

XCURV(axis) = 5

! 3. Turn off default CPE response

FDEF(axis).#CPE = 0

! 4. Jog towards negative hard stop

JOG/v (axis), -home_velocity

! 5. Detect CPE faultTILL ( FAULT(axis).#CPE = 1 )

! 6. Set home position as current + offset and move to home

SET FPOS(axis) = 0 - home_offset

PTP/ev (axis), 0, home_velocity

! 7. Reset motor current saturations and CPE response

XCURI(axis) = 50

XCURV(axis) = 100

FDEF(axis).#CPE = 1

• Home to Index

ACSPL+程序：

! 1. Enable motor

ENABLE (axis)

! 2. Reset index latch by toggling

IST(axis).#IND = 1

IST(axis).#IND = 0

! 3. Jog in negative direction

JOG/v (axis), -home_velocity

! 4. Detect index

TILL ( IST(axis).#IND = 1 )

! 5. Set home position with optional offset

SET FPOS(axis) = FPOS(axis) - ( IND(axis) - home_offset )

! 6. Move to home position

PTP/e (axis), 0

• home to hardstop and index

ACSPL+程序：

Enable (axis)

XCURI (axis) = 5

XCURV (axis) = 5

FDEF(axis).#CPE = 0

JOG/v (axis), home_velocity

IST(axis).#IND = 1

IST(axis).#IND = 0

TILL ( IST(axis).#IND = 1 )

SET FPOS(axis) = FPOS(axis) - ( IND(axis) - home_offset )

PTP/ev (axis), 0, home_velocity

XCURI(axis) = 50

XCURV(axis) =100

FDEF(axis).#CPE =1

• 其他

3. 应用程序示例

int AcsController::home(HANDLE Handle, int axisIndex, ACSC_WAITBLOCK* Wait)
{
    char buf[BUFSIZE] = {0};
    char tmpAxis[32] = {0};
    strcpy_s(buf, "!This is a ACSPL+ program to do home action\n" );
    strcat_s(buf, "Global Int iAxisIndex \n" );
    sprintf(tmpAxis,"iAxisIndex = %d\n",axisIndex);
    strcat_s(buf, tmpAxis);

    //1. Enable Motor
    strcat_s(buf, "ENABE(iAxisIndex) \n" );

    //2. Reduce motor current saturations
    strcat_s(buf, "XCURI(iAxisIndex) = 5 \n" );
    strcat_s(buf, "XCURV(iAxisIndex) = 5 \n" );

    //3. Turn off default CPE response
    strcat_s(buf, "FDEF(iAxisIndex).#CPE = 0 \n" );

    //4. Jog towards negative hard stop
    strcat_s(buf, "JOG/v (iAxisIndex), -home_velocity \n" );

    //5. Detect CPE fault
    strcat_s(buf, "TILL ( FAULT(iAxisIndex).#CPE = 1 ) \n" );

    //6. Jog in oppsite direction, reset index flag, and detect index
    strcat_s(buf, "JOG/v (iAxisIndex), home_velocity \n" );
    strcat_s(buf, "IST(iAxisIndex).#IND = 1 \n" );
    strcat_s(buf, "IST(iAxisIndex).#IND = 0 \n" );
    strcat_s(buf, "TILL ( IST(iAxisIndex).#IND = 1 ) \n" );

    //7. Set home position with optional offset
    strcat_s(buf, "SET FPOS(iAxisIndex) = FPOS(iAxisIndex) - ( IND(iAxisIndex) - home_offset ) \n" );
    strcat_s(buf, "PTP/ev (iAxisIndex), 0, home_velocity \n" );

    //8. Reset motor current saturation and CPE response
    strcat_s(buf, "XCURI(iAxisIndex) = 50 \n" );
    strcat_s(buf, "XCURV(iAxisIndex) = 100 \n" );
    strcat_s(buf, "FDEF(iAxisIndex).#CPE = 1 \n" );

    //9. loadBuffer
    if (!loadBuffer(Handle, // communication handle
                         0, 		// ACSPL+ program buffer number
                         buf, 		// pointer to the buffer containing
                         // ACSPL+ program(s).
                         strlen(buf),	// size of this buffer
                         Wait		// waiting call
                         ))
    {
        printf("transaction error: %d\n", acsc_GetLastError());
        return -1;
    }

    //10. compileBuffer
    if(!compileBuffer(Handle, 0, NULL))
    {
        printf("transaction error: %d\n", acsc_GetLastError());
        return -2;
    }

    //11. runBuffer
    if(!runBuffer(Handle, 0, NULL, NULL))
    {
        printf("transaction error: %d\n", acsc_GetLastError());
        return -3;
    }

    return 1;
}