MC_Home
Reference point travel of the axis is commanded with the MC_Home FB. How an axis reacts to this command basically depends on the type of homing operation. This is specified in the MDS axis (achsmdsX.lis) by the element P-AXIS-00299 (kenngr.homing.homing_type).
The additional "CamSignal" input can specify the signal to adopt the homing position. Normally the signal source of the "CamSignal" input is the reference cam signal of the drive.
Blockdiagramm
Parameters of the FB
|
VAR_IN_OUT | ||
Variable name | Data type | Description |
axis | AXIS_REF | Axis reference |
|
VAR_INPUT | ||
Variable name | Data type | Description |
Execute | BOOL | Homing is commanded on a rising edge at the input. |
CamSignal | BOOL | Signal to command adoption of the homing position. For further application notes, see Section 2.8.1. |
|
VAR_OUTPUT | ||
Variable name | Data type | Description |
Done | BOOL | When TRUE, homing is completed and the axis is in “Standstill” state. |
CommandAborted | BOOL | TRUE indicates that the command was aborted by another command. |
Error | BOOL | Is TRUE when an error occurs in the FB. |
ErrorID | WORD | Error code. |
General behaviour of the FB
- Commanding reference point travel is permissible only if the axis is in the "Standstill" state. If this is not the case, the "error" output is set to FALSE and "error_id" indicates an error value that designates the state the axis is currently in.
- No new command can be sent when this FB is active. It cannot be retriggered. If an attempt is made to do this anyway, the FB supplies the error P-ERR-44007 (ERR_PO_AX_HOMING_RETRIGGERD).
- The axis change to the "Homing" state directly after command of reference point travel.