MC_StepRefPulse
This function Block performs homing by searching for Zero pulse (also called Marker or reference pulse) in the encoder on all Sigma Series rotary servos.
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 | Direction | MC_Direction | Specifies the direction of motion. Allowable modes are positive_direction, shortest_way, negative_direction, current_direction.
|
MC_Direction#Positive_Direction |
| E | Velocity | LREAL | Absolute value of the velocity in user units/second. | LREAL#0.0 |
| E | SetPosition | LREAL | Value of the axis position to be set when homing is done. | LREAL#0.0 |
| E | TorqueLimit | LREAL | Maximum torque or force [in % of rated torque].The amplifier's Torque Limits (Pn402 and Pn403) will override the torque limit set by this value if they are lower than the TorqueLimit setting. | LREAL#100.0 (100% of rated torque) |
| E | TimeLimit | LREAL | Time limit for homing to complete (in seconds). Value of LREAL#0.0 sets no time limit. | LREAL#0.0 |
| E | DistanceLimit | LREAL | Maximum distance the axis can travel in search of home sensor. Value of LREAL#0.0 sets no distance limit. | LREAL#0.0 |
| E | BufferMode | MC_BufferMode | Defines the behavior of the axis - allowable modes are Aborting, Buffered, BlendingLow, BlendingPrevious, BlendingNext, and BlendingHigh.
|
MC_BufferMode#Aborting |
| VAR_OUTPUT | ||||
| B | Done | BOOL | The Done output is set to TRUE when the commanded action has completed successfully. If another function block takes control before the action is completed, the Done output will never become TRUE. This output is reset when Execute becomes FALSE. | |
| 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
- Yaskawa recommends a velocity equivalent to 60 RPM or less when searching for the C channel.
- MC_SetOverride does not affect the velocity of MC_StepRefPulse.
Error Description
See the
Function Block ErrorID List
Example
MC_StepRefPulse executed on Axis1 with a velocity of 0.5 revolutions/second and a final set position of 0.0.
The Logic Analyzer trace for the above program is shown below:
