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;

See Also