MLFB_HomeFindZeroAngle

Pipe Network motion icon

Function Block - Homing to zero angle reference.

Inputs

Input	Data Type	Range	Unit	Default	Description
ibExecute	BOOL	FALSE, TRUE	N/A	No default	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

FALSE, TRUE

N/A

Done bit.

obActive

BOOL

FALSE, TRUE

N/A

Active bit.

obError

BOOL

FALSE, TRUE

N/A

Error bit.

oErrorID

DINT

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

This function block is only applicable to motors with Resolver or SFD feedback.

Start Position.
End Position (Zero degrees).

Figure 1: 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;