HOME(DOCS) Optical Printer Control System HOME(DOCS)
NAME
home - motor homing standalone program
OPTIONS
-v # verbose mode for debugging changes
-d # debug mode
-h # help
USAGE
home [name-of-procedure] ..
EXAMPLES
home # home all axes defined in 'default' procedure
home a b c # call procedures 'a', 'b' and 'c'
DESCRIPTION
home is part of the OPCS system, and is used to home
motion control axes, shutter motors, set bits, check
for conditions, etc.
home has a simple, flexible command language that includes
logical if() conditions, motor movement commands, and various
other abilities useful for defining how axes are to initialize
themselves.
DEFINING HOMING PROCEDURES
Homing procedures are defined this way:
start name-of-procedure
{
commands..
}
end name-of-procedure
..and can be invoked from the command line via:
home name-of-procedure
In the case of setting up homing procedures for channels,
the procedure names are the name of the axis, ie:
start a
{
print AERIAL HOME
..
}
end a
..so that to home the 'a' axes, one just types the home command line:
home a
The homedefs.hom file has two special procedures:
start always
{
# commands that always execute, and are executed *first*;
}
end always
start default
{
# Commands to execute if user just typed
# 'home' without any command line arguments
}
end default
When you run 'home' without arguments, the 'default' procedure
in the homedefs.hom file is executed.
COMMANDS
Home commands are put into the homedefs.hom file, enclosed
in procedures. Here's a list of all the home commands:
call [proc] # Call named procedure
clrbit [port] [bitmask] # Clear port bit by OR/XORing [bitmask]
cswait [centisecs] # Wait so many centiseconds
end [label] # Declare the end of a procedure
exit [code] # Exit with an error code
fail? { commands } # Run { cmds } if gohome/gochange cmd failed
go [chan] [dist] [spd] # Send a motor some distance
gochange [chan] [maxdist] [spd] # Run until home sensor changes state
gohome [chan] [maxdist] [spd] # Home a motor
goto [label] # goto a label within proc (label-name:)
homeport [chan] [port] [mask] [test] # Define port to test for home condition
ishome? [chan] { cmds } # Is a channel at its home position?
istrip? [chan] { cmds } # Is a chan's trip switch is tripped?
kuperbase [port] # kuper port base [default=0x300]
nothome? [chan] { cmds } # Is chan NOT at its home position?
notrip? [chan] { cmds } # Is a chan's trip switch NOT tripped?
outport [port] [bytevalue] # Write a byte to a port
pass? { commands } # Run { cmds } if go/gohome/gochange passed
portset? [port] [mask] { cmds } # Check if port bit set
portclr? [port] [mask] { cmds } # Check if port bit clear
print [string] # Prints a message to the screen
printport [port] # Print the value at a port in hex
pse # Wait for a keypress from the user
reset [chan] [value] # Reset counter for [chan] to [value]
setbit [port] [bitmask] # Set port bit by ORing [bitmask]
start [label] # Declare the beginning of a procedure
(NOTE: lable name 'always' defines a procedure ALWAYS parsed)
system [command] # Execute a DOS command
tripport [chan] [port] [mask] [test] # Define port to test for trip condition
xorbit [port] [bitmask] # Invert port bit by XORing [bitmask]
ENVIRONMENT VARIABLES
OPCSDEBUG - if set to '1', 'home' will dump the velocity arrays
to stdout after the motors have moved. The output
can be redirected to a file for better inspection.
The 16 bit velocity values printed are 16 bit words
of the form:
0 x 0 8 1 0 <-- hex
- - - -
___________| | | |___________
| ___| |___ |
| | | |
0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 <-- binary
| | | | | \_______________________/
| | | | | Speed (11 bits)
| | | | |
| | | | Direction bit
| | | |
| | | Full Rotation (counter)
| | |
| | Soft Reverse
| |
| Allstop check bit
|
Full Stop (last velocity in array)
The lower 12 bits (dir + speed) are sent directly
to the Kuper card. The upper 4 bits are interpreted
by the 'mdrive' resident driver code.
EXAMPLE HOMEDEFS.HOM FILE
####################################################################
# HOME PROGRAM'S DEFINITIONS FILE
# This file contains commands particular only to the 'home' program.
# 'home' is a standalone program that can move the motors, and watch
# for changes in the home sensors.
####################################################################
# DEFINE PORTS FOR THE USER'S INSTALLATION
start always # THESE COMMANDS *ALWAYS* PARSED
{
### HOME SENSORS
homeport a 0060 7f 1d homeport e 0000 00 00 homeport i 0000 00 00
homeport b 03bd 10 10 homeport f 0000 00 00 homeport j 0000 00 00
homeport c 03bd 20 20 homeport g 0000 00 00 homeport k 0000 00 00
homeport d 03bd 80 80 homeport h 0000 00 00 homeport l 0000 00 00
### TRIP SWITCHES
tripport a 0000 00 00 tripport e 0000 00 01 tripport i 0000 00 01
tripport b 0000 00 01 tripport f 0000 00 01 tripport j 0000 00 01
tripport c 0000 00 01 tripport g 0000 00 01 tripport k 0000 00 01
tripport d 0000 00 01 tripport h 0000 00 01 tripport l 0000 00 01
}
end always
start b
{
print -n MAIN:
ishome? b
{
print -n RUNOUT FROM HOME -
go b -100 .2
ishome? b
{
print
print *** Cant run out of home position! (are motors off?)
exit 1
}
cswait 20
}
print -n SEEKING HOME -
gohome b 200 .2
fail?
{
print -n SEEK HOME IN REV DIR -
go b -300 .2 # (arrive at home from same direction)
gohome b 400 .2
fail?
{
print
print *** Cant find home position! (are motors off?)
exit 1
}
}
print DONE.
}
end b
start c
{
print -n CAMERA:
ishome? c
{
print -n RUNOUT FROM HOME -
go c -100 .2
ishome? c
{
print
print *** Cant run out of home position! (are motors off?)
exit 1
}
cswait 20
}
print -n SEEKING HOME -
gohome c 200 .2
fail?
{
print -n SEEK HOME IN REV DIR -
go c -300 .2 # (arrive at home from same direction)
gohome c 400 .2
fail?
{
print
print *** Cant find home position! (are motors off?)
exit 1
}
}
print DONE.
}
end c
start d
{
print -n FADER:
ishome? d
{
print -n RUNOUT FROM HOME -
go d 3000 .11
ishome? d
{
print
print *** Cant run out of home position! (are motors off?)
exit 1
}
cswait 20
}
print -n SEEKING HOME -
gohome d -11450 .11
fail?
{
print
print *** Cant find home position! (are motors off?)
exit 1
}
cswait 10
go d -1950 .11
print DONE.
}
end d
# USED BY JOG(OPCS)
start deenergize
{
print *** HOMEDEFS.HOM: No 'deenergize' target defined.
}
end deenergize
exit 0
ORIGIN
Gregory Ercolano, Topanga, California 05/12/00