MLFB_HomeFindZeroAngle

Pipe Network motion icon

 Function BlockClosed A function block groups an algorithm and a set of private data. It has inputs and outputs. - HomingClosed 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 zero angle reference.

Inputs

Input

Data Type

Range

Unit

Default

Description

ibExecute

BOOL

 

 

 

Start homing, edge-triggered.

iAxisID

DINT

 

 

 

ID of the axis block of the Pipe Network.

iPosition

LREAL

 

 

 

Reference position.

iDirectionType

DINT

 

 

 
  • 0 (zero) = Positive.
  • 1 = Negative.
  • 2 = Shortest.

iVelocity

LREAL

 

 

 

Reference speed.

iAcceleration

LREAL

 

 

 

Reference acceleration.

iDeceleration

LREAL

 

 

 

Reference deceleration.

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


  • This function block is only applicable to motors with Resolver or SFD feedback.
  1. Start Position
  2. End Position (Zero degrees)

Figure 6-90: Mode 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 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;

See Also