MLFB_HomeFindLimitInputThenZeroAngle

Description

Similar to the Find Input Limit method, the find input limit 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	BOOL

iPosition	Description	Reference position
	Data type	BOOL

ibDirection	Description	0=positive, 1=negative
	Data type	BOOL

iVelocity	Description	Reference speed
	Data type	BOOL

iAcceleration	Description	Reference acceleration
	Data type	BOOL

iDeceleration	Description	Reference deceleration
	Data type	BOOL

ibLimitSwitch	Description	Pos. or neg. limit switch, high-active (depends on ibDirection)
	Data type	BOOL

iTimeout	Description	Time monitoring (T#0ms: off)
	Data type	BOOL

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 stop when axis hits limit switch or times out
//after seeing limit switch, moves to zero angle and set axis position to zero
Inst_MLFB_HomeFindLimitInputThenZeroAngle( StartHomeRoutine,
PipeNetwork.AXIS1,
0,
TRUE,
100,
1000,
1000,
HomeDigitalInput,
T#30s );

HomeDone := Inst_MLFB_HomeFindLimitInputThenZeroAngle.obDone;

Function Block Diagram

FFLD

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