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MNEMONIC FUNCTION TYPE
H Hold Program Execution Program Instruction
DESCRIPTION
The hold instruction is used in a program to suspend program execution. If no parameter is specified the execution of the program
will be suspended while motion is in progress. This will typically be used following a MA or MR instruction.
A time in milliseconds may be placed as a parameter to the hold instruction, This will suspend program execution for the specified
number of milliseconds
USAGE
H <time> ‘Blank or 0 - hold while moving, 1 - 65000 usec.
EXAMPLE:
‘example 1
MA 20000 ‘move absolute 20000 motor units
H ‘hold program execution until motion completes
MA -20000 ‘move absolute -20000 motor units
H ‘hold program execution until motion completes
‘example 2
O2=1 ‘set output 2 HIGH
H 1000 ‘hold 1 second
O2=0 ‘set output 2 LOW
RELATED COMMANDS: PG, E
MNEMONIC FUNCTION TYPE
HC Hold Current Setup Variable
DESCRIPTION
This variable defines the motor holding current in percent.
USAGE UNITS RANGE DEFAULT
HC=<percent> Percent 0 to 100 5
EXAMPLE:
HC=5 ‘Set motor holding current to 5%
RELATED COMMANDS: HT, RC, HI
MNEMONIC FUNCTION TYPE
HI Home to Index Mark Variable Setup Variable
DESCRIPTION
This instruction will find the the encoder index mark. There are four types for this command:
1) Speed (S): Specifies the direction and speed that the axis will move until the index mark is found (VM).
2) Creep (C): Specifies the direction and speed that the axis will move off the index mark until it becomes inactive again (VI).
When HI is executed, the axis moves in the direction specified by the sign of speed at VM. It then creeps off of the switch in the
direction specified by the sign of creep at VI. Motion is stopped as soon as the switch becomes deactivated.
USAGE TYPES
HI=<type> 1: S- C+, 2: S- C-, 3: S+ C-, 4: S+ C+
EXAMPLE:
HM=2 ‘Find index mark at VM in the minus direction, Creep off at VI in the minus direction
RELATED COMMANDS: VM, VI, EE, I6