The Standard Homing routine is initiated by the sequence of commands HMX
Abort Input
The function of the Abort input is to immediately stop the controller upon transition of the logic state.NOTE: The response of the abort input is significantly different from the response of an activated limit switch. When the abort input is activated, the controller stops generating motion commands immediately, whereas the limit switch response causes the controller to make a decelerated stop. NOTE: The effect of an Abort input is dependent on the state of the off on error function (OE) for each axis. If the Off On Error function is enabled for any given axis, the motor for that axis will be turned off when the abort signal is generated. This could cause the motor to ‘coast’ to a stop since it is no longer under servo control. If the Off On Error function is disabled, the motor will decelerate to a stop as fast as mechanically possible and the motor will remain in a servo state. All motion programs that are currently running are terminated when a transition in the Abort input is detected. For information on setting the Off On Error function, see the Command Refere
Uncommitted Digital Inputs
The general use inputs are TTL and are accessible through the ICM-2900 as XLATCH-WLATCH (inputs 1-4) and IN5-IN8. The general use inputs are labeled IN1 – IN8 on the ICM-20100, ICM20105 etc. These inputs can be interrogated with the use of the command TI (Tell Inputs), the operand _TI, and the function @IN[n] (see Chapter 7, Mathematical Functions and Expressions).nce, OE.
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