Function Block MLFB_HomeFindZeroAnglePipe Network motion icon

Description

  1. Start Position
  2. End Position (Zero degrees)

Figure 7-200: Mode to find the zero angle reference of the motor.


  • This function block is only applicable to motors with Resolver or SFD feedback.

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
iDirectionType Description 0=positive, 1=negative, 2=shortest
  Data type DINT
iVelocity Description Reference speed
  Data type LREAL
iAcceleration Description Reference acceleration
  Data type LREAL
iDeceleration Description Reference deceleration
  Data type LREAL
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 to zero angle or time out
//after reaching zero angle set axis position to zero
Inst_MLFB_HomeFindZeroAngle( StartHomeRoutine,
PipeNetwork.AXIS1,
0,
1,
100,
1000,
1000,
T#30s );

HomeDone := Inst_MLFB_HomeFindZeroAngle.obDone;

Function Block Diagram

FFLD

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