MLFB_HomeMoveUntilPosErrExceededThenZeroAngle

Description

Similar to the Move Until Position Error Exceeded method, the move until position error exceeded then find zero angle. Mode follows the same steps, but upon completion of the move, it continues to move to find the zero angle reference of the motor.

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

iMaxPositionError	Description	Maximum position error
	Data type	LREAL

iPeakCurrent	Description	Peak current in mA
	Data type	DINT

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 and go until position error exceeds input value or time out
//afterterwards moves to zero angle and sets axis position to zero
//function block temporarily writes new max current value to 2 Amp while home routine active
Inst_MLFB_HomeMoveUntilPosErrExceededThenZeroAngle( StartHomeRoutine,
   PipeNetwork.AXIS1,
   0,
   1,
   100,
   1000,
   1000,
   MaxPosError,
   2000,
   T#30s );

HomeDone := Inst_MLFB_HomeMoveUntilPosErrExceededThenZeroAngle.obDone;

Function Block Diagram

FFLD

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