GANTRY.HOME.REQUIRED
Description
This keyword defines if both axes must be homed before gantry mode is active (GANTRY.STATE 3).
GANTRY.HOME.REQUIRED = 0 (Disabled)
When GANTRY.HOME.REQUIRED is disabled, when Axis 2 is configured as a gantry (AXIS2.CMDSOURCE = 4) GANTRY.STATE is set to 1. The first time the gantry is enabled, the feedback position from Axis 1 is used as the home position for Axis 2, the gantry immediately activates, GANTRY.STATE is set to 3 and both axes are under gantry control.
A side effect of this is that AXIS2.HOME.MODE is also set to mode 19 (Gantry Homing) so any future homing operations occur following the master axis. This overrides any prior setting that was configured.
GANTRY.HOME.REQUIRED = 1 (Enabled)
When GANTRY.HOME.REQUIRED is enabled, both Axis 1 and Axis 2 must be homed before the gantry is allowed to change from GANTRY.STATE 1 to 3. Homing can be performed individually prior to setting the axis command source to gantry, or afterwards while GANTRY.STATE is 1.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-05-04-000 |
General Information
| Type | Read/Write |
| Units |
N/A |
| Range | 0 to 1 |
| Default Value | 0 |
| Data Type | Integer |
| Stored in Non-Volatile Memory | No |
Variants Supported
All variants are supported.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
GANTRY.HOME.REQUIRED |
300eh |
04h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
3004 |
1 |
3004 (0xbbc) |
GANTRY.HOME.REQUIRED |
Unsigned8 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
GANTRY.HOME.REQUIRED |
3004 |
Unsigned8 |
Read/Write |
- |
