ViX Servo: How to Home to a Hard Stop

Below is some sample code on how to home to a hard stop using the ViX servo controller.

NOTE:  Use a low speed and set a low torque limit and GP gain for testing. Your customer will need to calculate the correct CR value. Limiting your total torque to 10 % should be a good starting point to prevent damage. The scale of the CR value is +/-931903, reference this value to the peak current setting of the VIX.

Sample code: 

;Torque/Current limit example
;This program example shows a drive running up to a torque
;limit.

1K  ;Kill all programs.
1CLEAR(ALL) ;Clear all programs.
1START:  ;Start program is required to declare run label.
1DECLARE(RUN) ;Declare "RUN" label.
1END

1RUN:  ;"RUN" program.
1MC  ;Set continous motion.
1V1  ;Set velocity to 1 rps.
1D-123  ;Force distance to negative direction.
1W(CQ,0) ;Write the value of continous execution to 0.
1ON  ;Turn on drive.
1G  ;Run axis.
1R(CR)  ;Print current reference.
1TR(CR,<,-10000);Trigger when system current reference is less
  ;then -10000.
1R(CR)  ;Print current reference.
1OFF  ;Turn off axis.
1END

29-Jul 2016 nc