MCFB_StepAbsolutes

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Homing The Homing procedure allows, based on a position measurement, to set a position offset to the motor in order to ensure it is physically at the home position by setting Actual Position to the position of the feedback.

Inputs

Input	Data Type	Range	Unit	Default	Description
En	BOOL	No range	N/A	No default	Enables execution. Used in the FFLD "Free Form Ladder Diagram" editor only.
Execute	BOOL	0, 1	N/A	No default	Request the homing step procedure at the rising edge A rising edge is the transition of a digital signal from low to high. It is also called positive edge.
AxisID	AXIS_REF	1, 256	N/A	No default	Name of a declared instance of the AXIS_REF library function. See AXIS_REF Structure for more information.
Mode	BOOL	0, 1	N/A	No default	Define the actual position assignment source. 0 (zero) = Use drive feedback position for actual position. 1 = Use once per rev feedback position.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL		N/A	Indicates the move completed successfully. The Command Position has reached the endpoint.
Busy	BOOL		N/A	High from the moment the Execute input goes high until the time the move is ended.
Active	BOOL		N/A	Indicates this move is the Active move.
CommandAborted	BOOL		N/A	Indicates the move was aborted.
Error	BOOL		N/A	Indicates either: An invalid input was specified. The move was terminated due to an error.
ErrorID	INT		N/A	Indicates the error if the Error output is set to TRUE. 1 = Desired SetPosition is outside of Rollover period.

Remarks

• Performs a static homing function by setting Actual Position to the position of an absolute encoder.
• No physical motion is performed in this mode.
• Equivalent to MC_SetPosition is performed with SetPosition coming from absolute encoder reading but with the option of using the once per rev feedback value.

This image shows the function or function block I/O.

Figure 6-98: MCFB_StepAbsolute

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Write current once per rev feedback position to overall axis position
MCFB_StepAbsolute( ExecuteHome, Axis1, ModeHome );

See Also

• MCFB_StepAbsSwitch
• MCFB_StepBlock
• MCFB_StepLimitSwitch
• MCFB_StepRefPulse