MLFB_HomeMoveUntilPosErrExceeded

Pipe Network motion icon

Function Block - Homing to the position error is exceeded.

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.
ibDirection	BOOL	0 to 1	N/A	No default	Defines the axis homing direction. 0 (zero) = Positive. 1 = Negative.
iVelocity	LREAL				Reference speed.
iAcceleration	LREAL				Reference acceleration.
iDeceleration	LREAL				Reference deceleration.
iMaxPositionError	LREAL				Maximum position error.
iPeakCurrent	DINT				Peak current in mA.
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

When executed, the motor moves to the hard stop with a definable peak current.
When the position error exceeds, the home Position is set.

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 until position error exceeds input value or time out
//afterterwards set axis position to zero
//function block temporarily writes new max current value to 2 Amp while home routine active
Inst_MLFB_HomeMoveUntilPosErrExceeded( StartHomeRoutine,
   PipeNetwork.AXIS1,
   0,
   1,
   100,
   1000,
   1000,
   MaxPosError,
   2000,
   T#30s );

HomeDone := Inst_MLFB_HomeMoveUntilPosErrExceeded.obDone;