MLFB_HomeFindZeroAngle
Description
|
Figure 7-236: 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
|
||||||||||||
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