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.

  1. Start Position.
  2. 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;

See Also