Y_AX_HomeTouchProbe
This function block combines the PLCopen function blocks
MC_MoveRelative,
MC_TouchProbe,
MC_MoveAbsolute
and
MC_SetPosition
to make a sequence that initiates motion on the axis until a signal is detected on the sensor connected to the high speed latch input of the servo. The axis then performs an offset move from the latched position, and sets a home position.
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). | |
| V | TriggerData | MC_TRIGGER_REF | Reference to the trigger signal source. | |
| 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 |
| B | HomeData | Yt_AX_HomeStruct | User defined Data Type in the PLCopen Toolbox, contains all related homing parameters. | All zeros in structure |
| 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. | |
| B | Busy | BOOL | Set high upon the rising edge of the Execute or Enable input, and reset when Done, CommandAborted, or Error is true. | |
| B | 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. | |
Error Description
See theFunction Block ErrorID List.
Notes
- HomeData.Direction is not a valid input for axes that are configured as linear. The direction input is valid for rotary axes that can make use of positive, negative and shortest path direction options.
Example
The example below illustrates how the Y_AX_HomeTouchProbe function block homes an axis based on the latch detected on one of the three EXT channels on the servo.
