MCFB_StepBlock

PLCopen motion icon

 Function Block - Homing to a physical object, mechanically blocking the movement.

Inputs

Input

Data Type

Range

Unit

Default

Description

Execute

BOOL

FALSE, TRUE

N/A

No default

Request the homing step procedure at the rising edge.

Outputs are reset when execute input is FALSE.

AxisID

AXIS_REF

1 to 256

N/A

No default

Name of a declared instance of the AXIS_REF library function.

See AXIS_REF Structure.

Direction

DINT

0 to 1

N/A

No default

Defines the axis homing direction.

  • 0 (zero) = Clockwise rotation.
  • 1 = Counterclockwise rotation.

Velocity

LREAL

No range

User unit/sec

No default

Commanded velocity for the homing move.

Acceleration

LREAL

No range

User unit/sec2

No default

Commanded acceleration for the homing move.

Deceleration

LREAL

No range

User unit/sec2

No default

Commanded deceleration for the homing move.

Jerk

LREAL

No range

User unit/sec3

No default

Commanded jerk for the homing move.

If 0 (zero), trapezoidal acc/dec is used.

TorqueLimit

LREAL

No range

User units

No default

Maximum torque applied for the homing move.

  • Entered in thousandths of maximum torque.
  • Example: 250 is 250/1000, or 25%.

TimeLimit

TIME

No range

Sec

No default

Maximum time for homing move to complete.

  • If exceeded, the homing procedure errors out.
  • 0 (zero) = no time limit.

DistanceLimit

LREAL

No range

User units

No default

Maximum distance for homing move to complete.

  • If exceeded, the homing procedure errors out.
  • 0 (zero) = no distance limit.

BufferMode

SINT

0 to 5

N/A

No default

Switch state to complete homing.

  • 0 = Abort.
  • 1 = Buffer.
  • 2 = Blend to active.
  • 3 = Blend to next.
  • 4 = Blend to low velocity.
  • 5 = Blend to high velocity.
  • See Buffer Modes for detailed information.

Outputs

Output

Data Type

Range

Unit

Description

Done

BOOL

FALSE, TRUE

N/A

Indicates the move completed successfully.
The Command Position has reached the endpoint.

Busy

BOOL

FALSE, TRUE

N/A

High from the moment the Execute input goes high until the time the move is ended.

Active

BOOL

FALSE, TRUE

N/A

Indicates this move is the Active move.

CommandAborted

BOOL

FALSE, TRUE

N/A

Indicates the move was aborted.

Error

BOOL

FALSE, TRUE

N/A

Indicates either:

  • An invalid input was specified.
  • The move was terminated due to an error.

ErrorID

INT

Enumerated

N/A

Indicates the error if the Error output is set to TRUE.

Error identifier:

ErrorID

Description

1

TimeLimit exceeded.

2

DistanceLimit exceeded.

3

TorqueLimit exceeded.

4

Axis error stop state.

5

Axis not enabled.

6

Invalid inputs for Velocity-Acceleration-Deceleration.

Remarks

  • Performs homing against a physical object, mechanically blocking the movement.
  • In this mode, there is no limit switch or Reference Pulse.
  • Adequate torque limits are required for not damaging mechanics during homing process.
  • The StepBlock condition is that we have reached the torque limit and real velocity falls below 5% of demanded.

This image shows the function or function block I/O.

Figure 1: MCFB_StepBlock

Usage

Homing against a physical object, mechanically blocking the movement require adequate torque limits for not damaging mechanics during homing process.

  • This function block does not modify the actual position.
  • Home is commanded by the user in the designated homing direction at the selected or programmed Velocity.
  • The Torque is limited.
  • Time and Distance Limits can cause an error if exceeded.
  • Process is finished when Torque is in limit condition and real velocity is below 5% of selected Velocity.

Figure 2: MCFB_StepBlock Usage 1

Figure 3: MCFB_StepBlock Usage 2

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

PositiveDirection :=0;
Velocity :=10000.0;
TorqueLimit :=50.0;
TimeLimit :=T#10s;
DistanceLimit :=10000.0;

Inst_MCFB_StepBlock( True, Axis1, PositiveDirection, Velocity, 1000, 1000, 0, TorqueLimit, TimeLimit, DistanceLimit, 0 );

HomeComplete :=Inst_MCFB_StepBlock.Done;
HomeBusy :=Inst_MCFB_StepBlock.Busy;
HomeActive :=Inst_MCFB_StepBlock.Active;
HomeAborted :=Inst_MCFB_StepBlock.CommandAborted;
HomeError :=Inst_MCFB_StepBlock.Error;
HomeErrorID :=Inst_MCFB_StepBlock.ErrorID;

See Also