Y_AX_HomeInit
This function block provides a method to initialize the HomeStruct data for use with all HOME_** function blocks. It is useful for programmers who prefer to avoid structured text for initializing HomeStruct values.
Parameters:
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | HomeData | Yt_AX_HomeStruct | User defined Data Type in the Axis Toolbox, contains all related homing parameters. | |
| VAR_INPUT | ||||
| B | Enable | BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. | FALSE |
| B | Direction | MC_Direction | Direction of travel for homing |
|
| B | SwitchMode | MC_SwitchMode | Edge On is the only mode supported |
|
| B | TorqueLimit | LREAL | Torque limit while attempting homing. In percentage of rated torque of the servo | LREAL#0.0 |
| B | ApproachVelocity | LREAL | Velocity used to approach limit switch or c channel | LREAL#0.0 |
| B | ApproachTimeLimit | LREAL | Time limit for the homing attempt. In seconds | LREAL#0.0 |
| B | ApproachDistanceLimit | LREAL | Distance limit for the homing attempt | LREAL#0.0 |
| B | AccDec | LREAL | Acceleration/deceleration for offset moves. | LREAL#0.0 |
| B | LimitBackOffDistance | LREAL | Distance limit for back off after a limit switch is encountered | LREAL#0.0 |
| B | CreepVelocity | LREAL | Velocity to creep to C channel | LREAL#0.0 |
| B | CreepTimeLimit | LREAL | Time limit for the creep attempt. In seconds | LREAL#0.0 |
| B | CreepDistanceLimit | LREAL | Distance limit for the creep attempt | LREAL#0.0 |
| B | Offset | LREAL | Offset distance to move after limit switch or C channel | LREAL#0.0 |
| B | OffsetVelocity | LREAL | Velocity of the offset move after limit switch or C channel | LREAL#0.0 |
| B | Position | LREAL | Position to be defined as the home position | LREAL#0.0 |
| VAR_OUTPUT | ||||
| B | Valid | BOOL | Set high if the function block is active and there are no errors | |
| 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:
No errors are expected to be generated from this function block.
Error Description:
See the
Function Block ErrorID List.