MC_FinishHoming
This Function Block switches the Motion State status from the ‘Homing’ state to the ‘StandStill’ state. It does not perform any movement. This block can be used to transition the axis from 'Homing' state to a 'Standstill' state after MC_SetpLimitSwitch. (See Notes).
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number). | |
| VAR_INPUT | ||||
| B | Execute | BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| E | BufferMode | MC_BufferMode | Defines the behavior of the axis - allowable modes are Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh. 0:MC_BufferMode#Aborting
1:
MC_BufferMode#Buffered
2:
MC_BufferMode#BlendingLow
3:
MC_BufferMode#BlendingPrevious
4:
MC_BufferMode#BlendingNext
5:
MC_BufferMode#BlendingHigh
|
MC_BufferMode#Aborting |
| VAR_OUTPUT | ||||
| B | Done | BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| E | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| E | Active | BOOL | For buffered modes, this output is set high at the moment the block takes control of the axis. For non buffered modes, the outputs Busy and Active have the same value. | |
| E | CommandAborted | BOOL | Set high if motion is aborted by another motion command or MC_Stop. This output is cleared with the same behavior as the Done output. | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Notes
- This block is not necessary if the last homing block executed is MC_StepRefPulse because this block will change the motion state back to 'Standstill' when complete.
- This block is only necessary when is the last block executed in a homing sequence is MC_StepLimitSwitch.
Error Description
Refer to the Function Block ErrorID List