Fast Homing Example with the PLCopen Motion Engine

This example shows how to use the axes' motion library functions to detect the positive edge of the first Fast Input in the drive, and read its position. MC_TouchProbe and the Trig_Ref library function are used to accurately perform a homing procedure.

  1. Set up an instance of the TrigRef function in the Dictionary. For this example, the name A1_TrigRef is used.
  2. Define the TrigRef values.
    A1_TrigRef.InputID := 0;    // configure Drive Capture Engine Used
A1_TrigRef.TrigID := 0;     // configure which Drive to capture an input
A1_TrigRef.Direction := 1;  // configure Signal transition Direction of capture
A1_TrigRef.TrigMode := 1;   // configure Time or Position Capture
  3. Activate the TouchProbe function
    Inst_MC_TouchProbe( True, AxisID, A1_TrigRef, FALSE, 0, 0 );

  • The position capture can be time-based ( A1_TrigRef.TrigMode := 0 ) or position-based ( A1_TrigRef.TrigMode := 1 ).