Function BlockMCFB_StepAbsSwitchFastInputPLCopen motion icon

Description

This function block performs a homing function by searching for an absolute positioned external physical switch. The switch must be connected to one of the two fast inputsClosedThe inputs are taken into account at each cycle depending on the system periodicity (for example each millisecond). Under certain circumstances this can be insufficient when more accuracy is needed, or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g. when a sensor sends a rising edge), the detection of a signal occurs faster (which can be 1000 times more accurate than the system periodicity). Then the timestamp associated with this input can be provided to the IPC to take corrective action on the Axis' AKD drive. (An Absolute Switch has two “Off” (or “On”) areas.

The following figure shows the function block I/O:

MCFB StepAbsSwitchFastInput

Figure 7-251: MCFB StepAbsSwitchFastInput

 

Input

Execute

Description

Request the homing step procedure at rising edgeClosedA 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

Structure for specified Axis desired to home

 

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

SwitchMode

Description

Switch state to complete homing

Value

Description

0

when rising edge of sensorClosedA sensor is a type of transducer that converts one type of energy into another for various purposes including measurement or information transfer

1

when falling edge

2

rising edge when traveling in positive direction but falling edge in negative direction

3

falling edge when traveling in negative direction but rising edge in positive direction

 

Data type

DINT

 

Range

[0 , 3]

 

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

JerkClosedIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time

Description

Commanded jerkClosedIn 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 torqueClosedTorque 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 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

FastInputNum

Description

0 for first fast inputClosedThe inputs are taken into account at each cycle depending on the system periodicity (for example each millisecond). Under certain circumstances this can be insufficient when more accuracy is needed, or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g. when a sensor sends a rising edge), the detection of a signal occurs faster (which can be 1000 times more accurate than the system periodicity). Then the timestamp associated with this input can be provided to the IPC to take corrective action (X7 Pin 10), 1 for second fast input (X7 pin 9)

 

Data type

BOOL

 

Range

[0 , 1]

 

Unit

N/A

 

Default

PosLimitSwitch

Description

The positive direction limit switch input I/O point

 

Data type

BOOL

 

Range

[0 , 1]

 

Unit

N/A

 

Default

NegLimitSwitch

Description

The negative direction limit switch input I/O point

 

Data type

BOOL

 

Range

[0 , 1]

 

Unit

N/A

 

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

Set when the function block is active

 

Data type

BOOL

 

Unit

N/A

CommandAborted

Description

Indicates the move was aborted

 

Data type

BOOL

 

Unit

N/A

Error

Description

Signals that an error has occurred within the function block

 

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

TorqueLimit exceeded

4

axis error stop state

5

axis not enabled

6

invalid inputs for Velocity-Accel-Decel

 

Data type

INT

 

Unit

N/A

TriggerPosition

Data type

LREAL

 

Range

-

 

Unit

User units

 

Default

-

Usage

.

UDFB StepAbsSwitchFastInput: usage

UDFB StepAbsSwitchFastInput: usage

Related Functions

MCFB_StepLimitSwitchFastInput

Example

Structured Text

 

Execute_1 :=1;

(*Positive_Switch and Negitive_Switch are physical hardware in Dictionary. *)

 

Inst_MC_StepAbsSwitchFastInput( Execute_1, Axis1, 0, 0, 10000.0,Acceleration:=10000.0, 10000.0, 0, 0, 0, 0, 0, Positive_Switch , Negitive_Switch , 0)

 

HomeComplete := Inst_MC_StepAbsSwitchFastInput.Done;

HomeBusy := Inst_MC_StepAbsSwitchFastInput.Busy;

HomeActive := Inst_MC_StepAbsSwitchFastInput.Active;

HomeAborted := Inst_MC_StepAbsSwitchFastInput.CommandAborted;

HomeError := Inst_MC_StepAbsSwitchFastInput.Error;

HomeErrorID := Inst_MC_StepAbsSwitchFastInput.ErrorID;

HomeTriggerPosition := Inst_MC_StepAbsSwitchFastInput.TriggerPosition;

FBD

Ladder Diagram

UDFB StepAbsSwitchFastInput: LD example

(* PosLimitSwitch, NegLimitSwitch are declared I/O points *)

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