Galil Homing Routine steps

A number of steps are already available for homing Galils and these are used in various routines. Below is the code to use, so ${AXIS} refers to the macro for the axis, and n will indicate the step number. There are a number of variables used whose source is not detailed here.

Do nothing

This isn’t quite nothing, it waits 100 ms

IF ((hjog${AXIS}=n) & (_BG${AXIS}=0) & (home${AXIS}=1))
	WT100;hjog${AXIS}=n+1
ENDIF

Find Index

If hjog${AXIS} = 1 then the stop code check at the end can be omitted, and the speed multiplier (sm) should be greater as this would be the first move to the index, e.g. use 1 for the initial index find and 0.1 for the detailed index find If the index is behind your current location then the speed multiplier (sm) should be negative, otherwise, it is positive.

IF ((hjog${AXIS}=n) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
	DC${AXIS}=(@ABS[hjgdc${AXIS}])
	JG${AXIS}=((@ABS[hjgsp${AXIS}])*sm)
	FI${AXIS};SH${AXIS};WT100;BG${AXIS};hjog${AXIS}=n+1
ENDIF

Move to a relative position

If coming off an index, the relative position value (rp) should be the same sign as the last move

IF ((hjog${AXIS}=n) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=10))
	DC${AXIS}=(@ABS[hjgdc${AXIS}])
	PR${AXIS}=((@ABS[hjgsp${AXIS}])*rp)
	SH${AXIS};WT100;BG${AXIS};hjog${AXIS}=n+1
ENDIF

Jog on to a limit

The limit in use will need to be specified (frl) The speed and direction will depend on the limit being moved towards and the stage in the routine (sm) The limit switch behaviours should stop the motor, but the interim state should be used to simplify execution

IF ((hjog${AXIS}=n) & (_BG${AXIS}=0) & (_Lfrl${AXIS}=0) & (home${AXIS}=1))
	DC${AXIS}=@ABS[hjgdc${AXIS}]
	JG${AXIS}=@ABS[hjgsp${AXIS}]*sm
	SH${AXIS};WT50;BG${AXIS};hjog${AXIS}=n+1
ENDIF

Jog off a limit

The limit in use will need to be specified (frl) The speed and direction will depend on the limit being moved towards and the stage in the routine (sm) This is really two steps, but coming off the limit always requires a reaction once the limit is no longer engaged

IF ((hjog${AXIS}=n) & (_BG${AXIS}=0) & (_Lfrl${AXIS}=0) & (home${AXIS}=1))
	DC${AXIS}=@ABS[hjgdc${AXIS}]
	JG${AXIS}=@ABS[hjgsp${AXIS}]*sm
	SH${AXIS};WT50;BG${AXIS};hjog${AXIS}=n+1
ENDIF
IF ((hjog${AXIS}=n+1) & (_BG${AXIS}=1) & (_LF${AXIS}=1) & (home${AXIS}=1))
	ST${AXIS}
	hjog${AXIS}=n+2
ENDIF

Go to the home position

IF ((hjog${AXIS}=n) & (_BG${AXIS}=0) & (home${AXIS}=1))
	DC${AXIS}=(@ABS[hjgdc${AXIS}])
	SP${AXIS}=(@ABS[hjgsp${AXIS}])
	HM${AXIS};SH${AXIS};WT100;BG${AXIS};hjog${AXIS}=n+1
ENDIF

Find the edge of a transition

IF ((hjog${AXIS}=n) & (_BG${AXIS}=0) & (home${AXIS}=1))
	DC${AXIS}=(@ABS[hjgdc${AXIS}])
	SP${AXIS}=(@ABS[hjgsp${AXIS}])
	FE${AXIS};SH${AXIS};WT100;BG${AXIS};hjog${AXIS}=n+2
ENDIF