gl MLFB_HomeFindHomeInput

Description

The motor starts to move according to the direction setting. The home position has been found as soon as the home-switch becomes active during a motion in direction of the direction setting. The command position of the drive will immediately be set to the position value and the motor ramps down to velocity 0. The hardware limit switches are monitored during the homing procedure. The drive behaves as follows in case that a hardware limit switch is active before the home-switch has been activated: The motor changes the direction until the home switch is crossed. The motor ramps down to zero velocity and reverses direction again after crossing the home-switch. The home-switch will now be activated according to the direction setting and the home-position has been found. The command position of the drive will immediately be set to the position value and the motor ramps down to zero velocity.

Arguments

Input

ibExecute	Description	Start homing, edge-triggered
	Data type	BOOL
iAxisID	Description	ID of Axis block of Pipe Network
	Data type	DINT
iPosition	Description	Reference position
	Data type	LREAL
ibDirection	Description	0=positive, 1=negative
	Data type	BOOL
iVelocity	Description	Reference speed
	Data type	LREAL
iAcceleration	Description	Reference acceleration
	Data type	LREAL
iDeceleration	Description	Reference deceleration
	Data type	LREAL
ibHomeInput	Description	Home input, high-active
	Data type	BOOL
ibPosLimitSwitch	Description	Positive limit switch, high-active
	Data type	BOOL
ibNegLimitSwitch	Description	Negative limit switch, high-active
	Data type	BOOL
iTimeout	Description	Time monitoring (T#0ms: off)
	Data type	TIME

Output

obDone	Description	Done bit
	Data type	BOOL
obActive	Description	Active bit
	Data type	BOOL
obError	Description	Error bit
	Data type	BOOL
oErrorID	Description	Error identifier, see list here ErrorID Description 1 Axis in error 2 Axis not enabled 3 Timeout expired 4 SDO read/write error 5 Input parameter out of range
	Data type	DINT

Example

ST

//Call homing function on Axis1 with preset velocity, accel, and decel values
//Start in negative direction, change if limit switch seen before home switch
//after seeing home switch, set axis position to zero
Inst_MLFB_HomeFindHomeInput( StartHomeRoutine,
   PipeNetwork.AXIS1,
   0,
   TRUE,
   100,
   1000,
   1000,
   HomeDigitalInput,
   PositiveLimitSwitch,
   NegativeLimitSwitch,
   T#30s );


HomeDone := Inst_MLFB_HomeFindHomeInput.obDone;

Function Block Diagram

FFLD

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