MLFB_HomeFindLimitInput

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 limit switch.

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.
ibLimitSwitch	BOOL	Positive or negative limit switch, high-active. Depends on the ibDirection.
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

The find limit input mode moves to a limit input.
This method is used if you have a positive or negative limit switch available that you want to establish as a home reference point.

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 and stop when axis hits limit switch or times out
//after seeing limit switch, set axis position to zero
Inst_MLFB_HomeFindLimitInput( StartHomeRoutine,
   PipeNetwork.AXIS1,
   0,
   TRUE,
   100,
   1000,
   1000,
   HomeDigitalInput,
   T#30s );

HomeDone := Inst_MLFB_HomeFindLimitInput.obDone;