MLFB_HomeFindHomeInputThenZeroAngle

Pipe Network motion icon

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 to a home switch plus zero angle.

Inputs

Input	Data Type	Description
ibExecute	BOOL	Start homing, edge-triggered.
iAxisID	DINT	ID of the axis block of the Pipe Network.
iPosition	LREAL	Reference position.
ibDirection	BOOL	0 (zero) = Positive. 1 = Negative.
iVelocity	LREAL	Reference speed.
iAcceleration	LREAL	Reference acceleration.
iDeceleration	LREAL	Reference deceleration.
ibHomeInput	BOOL	Home input, high-active.
ibPosLimitSwitch	BOOL	Positive limit switch, high-active.
ibNegLimitSwitch	BOOL	Negative limit switch, high-active.
iTimeout	TIME	Time monitoring (T#0ms: off).

Outputs

Output

Data Type

Range

Unit

Description

obDone

BOOL

Done bit.

obActive

BOOL

Active bit.

obError

BOOL

Error bit.

oErrorID

DINT

Error identifier:

ErrorID	Description
1	Axis in error.
2	Axis is not enabled.
3	Timeout exceeded or expired.
4	SDO read/write error.
5	Input parameter out of range.

Remarks

Similar to the Find Home Limit method.
- The find input home 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.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Call homing function on Axis1 with preset velocity, accel, and decel values
//Start in negative direction, change if limit switch seen before home switch
//after seeing home switch and moving to zero angle, set axis position to zero
Inst_MLFB_HomeFindHomeInputThenZeroAngle( StartHomeRoutine,
   PipeNetwork.AXIS1,
   0,
   TRUE,
   100,
   1000,
   1000,
   HomeDigitalInput,
   PositiveLimitSwitch,
   NegativeLimitSwitch,
   T#30s );

HomeDone := Inst_MLFB_HomeFindHomeInputThenZeroAngle.obDone;