1.ET_State.HominInit initializes the axis and indicates process flow.
For this application, create a custom statemachine using CASE.OF instruction. The code snippets below are part of the instructional setup.
2.ET_Cmd.Starttriggers a start for the current operating mode and set the start flag TRUE when the movement is started.
When the output is waiting for start, then movement can be started with the ET_Cmd.Start.
ET_CMD.StartTrigWaitInPos triggers a start in the operating mode Pos and can only be left if the related user input is either transferred or waiting for the next command. The command is set to zero when the position has been reached. Below is a modified example of the code snippet:
NEED CODE ADDED
NOTE: To leave this OpMode the following commands can be transferred:
oET_Cmd.Endless
oET_Cmd.Endlesslls
oET_Cmd.Manual
oET_Cmd.MultiCam
oET_Cmd.DriveEnableOff
3.ET_State.HomingDone waits for the final command to be processed. If no other continuing commands are initialized then ET_Cmd.Stop is selected leading to the ET_State.HomingExit.
