MCFB_StepBlock

Description

This function block performs homing against a physical object, mechanically blocking the movement. In this mode there is no limit switch or Reference PulseWhen the step gets activated, the action is activated for a single execution, and possibly once again when the step is deactivated. Adequate torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist limits are required for not damaging mechanics during homing process. The StepBlock condition is that we have reached the torque limit and real velocity falls below 5% of demanded.

The following figure shows the function block I/O:

Figure 7-210: MCFB StepBlock

Arguments

Input

Execute	Description	Request the homing step procedure at rising edgeA rising edge is the transition of a digital signal from low to high. It is also called positive edge. Outputs are reset when execute input is false.
	Data type	BOOL
	Range	[0 , 1]
	Unit	n/a
	Default	—
AxisID	Description	Name of a declared instance of the AXIS_REF library function
	Data type	AXIS_REF
	Range	[1 , 256]
	Unit	n/a
	Default	—
Direction	Description	Define the axis homing direction Value Description 0 clockwise rotation 1 counterclockwise rotation
	Data type	BOOL
	Range	[0 , 1]
	Unit	n/a
	Default	—
Velocity	Description	Commanded velocity for the homing move
	Data type	LREAL
	Range	—
	Unit	User unit/sec
	Default	—
Acceleration	Description	Commanded acceleration for the homing move
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
Deceleration	Description	Commanded deceleration for the homing move
	Data type	LREAL
	Range	—
	Unit	User unit/sec2
	Default	—
JerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time	Description	Commanded jerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time for the homing move (if zero, then trapezoidal acc/dec is used)
	Data type	LREAL
	Range	—
	Unit	User unit/sec3
	Default	—
TorqueLimit	Description	Maximum torque applied for the homing move entered in thousandths of maximum torque, e.g. "250" is 250/1000, or 25%.
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—
TimeLimit	Description	Maximum time for homing move to complete. If exceeded the homing procedure will error out. 0= no time limit
	Data type	TIME
	Range	—
	Unit	sec
	Default	—
DistanceLimit	Description	Maximum distance for homing move to complete. If exceeded the homing procedure will error out. 0= no distance limit
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—
BufferMode	Description	Define the homing move start action Value Description 0 abort 1 buffer 2 Blend to active 3 blend to next 4 blend to low velocity 5 blend to high velocity See table in Buffer Modes
	Data type	SINT
	Range	[0 , 5]
	Unit	n/a
	Default	—

Output

Done	Description	Indicates the move completed successfully. The Command Position has reached the endpoint
	Data type	BOOL
	Unit	n/a
Busy	Description	High from the moment the Execute input is one-shot to the time the move is ended
	Data type	BOOL
	Unit	n/a
Active	Description	Indicates this move is the active move
	Data type	BOOL
	Unit	n/a
CommandAborted	Description	Indicates the move was aborted
	Data type	BOOL
	Unit	n/a
Error	Description	Indicates an invalid input was specified or the move was terminated due to an error
	Data type	BOOL
	Unit	n/a
ErrorID	Description	Indicates the error if Error output is set to TRUE Value Description 1 TimeLimit exceeded 2 DistanceLimit exceeded 3   4 axis error stop state 5 axis not enabled 6 invalid inputs for Velocity-Acceleration-Deceleration
	Data type	INT
	Unit	n/a

Usage

HomingThe Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position against a physical object, mechanically blocking the movement require adequate torque limits for not damaging mechanics during homing process. The StepBlock condition is that we have reached the torque limit and real velocity falls below 5% of demanded.

• Home is commanded by user in the desired homing direction at the selected Velocity
• TorqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist is limited.
• Time and Distance Limits can cause error if exceeded
• Process is finished when Torque is in limit condition and real velocity is below 5% of selected velocity.
• This Function BlockA function block groups an algorithm and a set of private data. It has inputs and outputs. doesn’t modify actual position

 

 

Related Functions

MCFB_StepAbsolute

MCFB_StepRefPulse

MCFB_StepAbsSwitch

MCFB_StepLimitSwitch

Example

Structured Text

PositiveDirection :=0; Velocity :=10000.0; TorqueLimit :=50.0; TimeLimit :=T#10s; DistanceLimit :=10000.0;   Inst_MCFB_StepBlock( True, Axis1, PositiveDirection, Velocity, 1000, 1000, 0, TorqueLimit, TimeLimit, DistanceLimit, 0 );   HomeComplete :=Inst_MCFB_StepBlock.Done; HomeBusy :=Inst_MCFB_StepBlock.Busy; HomeActive :=Inst_MCFB_StepBlock.Active; HomeAborted :=Inst_MCFB_StepBlock.CommandAborted; HomeError :=Inst_MCFB_StepBlock.Error; HomeErrorID :=Inst_MCFB_StepBlock.ErrorID;

Ladder Diagram

Function Block Diagram

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