MLFB_HomeFindLimitInput

Pipe Network motion icon

Function Block - Homing to a limit switch.

Inputs

Input	Data Type	Range	Unit	Default	Description
ibExecute	BOOL	FALSE, TRUE	N/A	No default	Start homing, edge-triggered.
iAxisID	DINT	No range	N/A	No default	ID of the axis block of the Pipe Network.
iPosition	LREAL	No range	User units	No default	Reference position.
ibDirection	BOOL	FALSE, TRUE	N/A	No default	Defines the axis homing direction. FALSE = Positive. TRUE = Negative.
iVelocity	LREAL	iVelocity > 0	User unit/sec	No default	Reference speed.
iAcceleration	LREAL	iAcceleration > 0	User unit/sec²	No default	Reference acceleration.
iDeceleration	LREAL	iDeceleration > 0	User unit/sec²	No default	Reference deceleration.
ibLimitSwitch	BOOL	FALSE, TRUE	N/A	No default	Positive or negative limit switch, high-active. Depends on the ibDirection.
iTimeout	TIME	No range	See TIME in Constant Expressions.	No default	Time monitoring (T#0ms: off).

Outputs

Output

Data Type

Range

Unit

Description

obDone

BOOL

FALSE, TRUE

N/A

Done bit.

obActive

BOOL

FALSE, TRUE

N/A

Active bit.

obError

BOOL

FALSE, TRUE

N/A

Error bit.

oErrorID

DINT

Enumerated

N/A

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 there is a positive or negative limit switch available 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;