EDH0162En1040 – 06/99
2.4
MM4005
Local Mode
2.1.2
Home Motion Devices
As a general practice, before executing any motion, always home the
motion devices. As described in detail in the Motion Control Tutorial sec-
tion, homing a motion device means executing a special routine that
locates a dedicated origin switch and an encoder index pulse and establish-
es an absolute position zero.
Finding the home position of a motion device is important for two reasons.
First, after each power off/on cycle, you must position the stage accurately
in space. This means that the controller must find a zero position that is
always in the same point in space, relative to the base. Secondly, in order
to prevent the motion device from running into the limits and possibly
causing damage, the controller must determine its position on power-up.
From the top level motor-on menu press the
function key. The dis-
play will ask you to select an axis for the execution of a home search rou-
tine. Use the keypad to enter a number and then press
. If you want
to perform a home search on all axes, leave the default 0 and press
.
The axis will start moving, the function keys will be disabled and the display
will indicate the progress of the routine.
When all selected axes complete the home search cycle, the display
returns to the top level motor-on menu.
The stages are ready for a move.
2.1.3
First Jog
From the top level MOTOR
menu press the
function key.
The display switches to the manual jog screen and menu. As the message
on line number 5 instructs you to do, use the keypad to jog any installed
motion device.
Since this is the first time you are using the keypad for jogging, some clarifi-
cations are needed. The keypad is a 3-column by 4-row matrix (Fig. 2.1).
Fig. 2.1
— Using the numeric keypad to JOG.
Concentrate first on the column convention. For better identification, we
can label them
❶
,
❷
and
❸
(Fig. 2.2).
1
4
7
2
5
8
3
6
9
.
-
0
Axis 1
Axis 2
Axis 3
Axis 4
JOG
MANUAL
ON
VALID
VALID
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