Function Block MCFB_StepRefPulsePLCopen motion icon

Description

This function block performs homing by searching for Zero pulse (also called Marker or reference pulse) in encoder. The reference pulse appears once per encoder revolution. The advantage in using Reference PulseClosedWhen the step gets activated, the action is activated for a single execution, and possibly once again when the step is deactivated for homing is the higher accuracy and precision that can be achieved compared to traditional optical, mechanical or magnetic sensors.

The following figure shows the function block I/O:

MCFB StepRefPulse

Figure 7-250: MCFB StepRefPulse

Arguments

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

 

Data type

BOOL

 

Range

[0 , 1]

 

Unit

N/A

 

Default

AxisID

Description

Name of a declared instance of the AXIS_REF library function

 

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

switch is on

1

switch if off

2

rising edge of switch

3

falling edge of switch

 

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

SetPosition

Description

Value of the absolute position to be set when the homing move is done

 

Data type

LREAL

 

Range

 

Unit

User unit

 

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

 

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

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

Indicates this move is the active move

 

Data type

BOOL

 

Unit

N/A

CommandAborted

Description

Indicates the move was aborted

 

Data type

BOOL

 

Unit

N/A

Error

Description

Indicates an invalid input was specified or the move was terminated due to an error

 

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-Acceleration-Deceleration
 

Data type

INT

 

Unit

N/A

Usage

This function Block performs homing by searching for Zero pulse (also called Marker or reference pulse) in encoder. The reference pulse appears once per encoder revolution.

 

It is common that a first approach is performed against a mechanical sensorClosedA sensor is a type of transducer that converts one type of energy into another for various purposes including measurement or information transfer at higher velocity, and after a Reference Pulse, at a lower velocity. This is a traditional 2-Step homing (Coarse by external Switch in reverse and Fine by Reference Pulse in forward).

Related Functions

MCFB_StepAbsolute

MCFB_StepAbsSwitch

MCFB_StepBlock

MCFB_StepLimitSwitch

Example

Structured Text

 

PositiveDirection :=0;

Velocity :=10000.0;

SetPosition :=0.0;

TorqueLimit :=50.0;

TimeLimit :=T#10s;

DistanceLimit :=10000.0;

 

Inst_MCFB_StepRefPulse( True, Axis1, PositiveDirection, Velocity, 1000, 1000, 0, SetPosition, TorqueLimit, TimeLimit, DistanceLimit, 0 );

 

HomeComplete :=Inst_MCFB_StepRefPulse.Done;

HomeBusy :=Inst_MCFB_StepRefPulse.Busy;

HomeActive :=Inst_MCFB_StepRefPulse.Active;

HomeAborted :=Inst_MCFB_StepRefPulse.CommandAborted;

HomeError :=Inst_MCFB_StepRefPulse.Error;

HomeErrorID :=Inst_MCFB_StepRefPulse.ErrorID;

 

Ladder Diagram

UDFB StepRefPulse: LD example

Function Block Diagram

UDFB StepRefPulse: FBD example

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