MLFB_HomeMoveUntilPosErrExceededThenZeroAngle

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 the position error is exceeded 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.
iMaxPositionError	LREAL	Maximum position error.
iPeakCurrent	DINT	Peak current in mA.
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 Move Until Position Error Exceeded method, the move until position error exceeded 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 and go until position error exceeds input value or time out
//afterterwards moves to zero angle and sets axis position to zero
//function block temporarily writes new max current value to 2 Amp while home routine active
Inst_MLFB_HomeMoveUntilPosErrExceededThenZeroAngle( StartHomeRoutine,
   PipeNetwork.AXIS1,
   0,
   1,
   100,
   1000,
   1000,
   MaxPosError,
   2000,
   T#30s );

HomeDone := Inst_MLFB_HomeMoveUntilPosErrExceededThenZeroAngle.obDone;