Y_GP_GroupToHome
This function block moves a group to its home location in the coordinate system specified in a sequence specified in GroupHomeData. Prepare GroupHomeData to indicate the required sequence of operation for safe motion to the home position to avoid obstacles, if required, as well as the home position. This function does not locate home switches or overtravels, it assumes that the system has been previously calibrated or homed, and returns to the positions configured in GroupHomeData. It is intended for use with absolute encoders. It can also be used with systems that home to sensors, but that operation is not included here, and must be previously executed before Y_GP_GroupToHome can be used.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | AxesGroup | AXES_GROUP_REF | A logical reference to a group of axes, which contains several additional substructures pertaining to the group. | |
| V | GroupHomeData | #32584 | Structure of data that holds information for how the group will be moved to its home (Origin) position. | |
| 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 | CoordSystem | MC_CoordinateSystem |
Enumeration with the following values: 0 = ACS, 1 = MCS, 2 = PCS, 3 = TCS, 4 = WCS, 5 = TPCS. MC_CoordinateSystem#ACS MC_CoordinateSystem#MCS MC_CoordinateSystem#PCS MC_CoordinateSystem#TCS MC_CoordinateSystem#WCS MC_CoordinateSystem#TPCS |
MC_CoordinateSystem#ACS |
| 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. | |
| C | 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) | |
| C | 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 will detect joints with secondary (prime) servos, and will pre-align the axes sharing a load before starting the home sequence. If pre-alignment must be performed, this block will execute #19091, #30283 on the necessary axes, and #19092 before beginning the home sequence.
- There will be a slight delay until motion starts after executing this function, as it determines if there are any joints with prime axes to realign before executing #19092.
- The CoordSystem input accepts #27248#ACS only for Gantry groups.
- This Function Block can be used both with locally and remotely hosted groups.
Error Description
See the Function Block ErrorID List.
Example
Example 1
Consider the following group definition: a 3D Gantry configured with prime axes in the X and Y axes, and a single axis for the Z component.
For that group, the following GroupHomeData is configured. Lines 2-4 include the home position to which the group is expected to be moved with this function block. Lines 7-11 include the first step of the homing sequence, which says that only the 'Z' axis will be moved with a velocity of 2 <user units>/s and an acceleration/deceleration of 5<user units>/s^2. Lines 14-19 cover the second homing sequence, in this case 'X' and 'Y' axes will be homed at the same time with an overall velocity of 1 <user units>/sand an acceleration/deceleration of 5 <user units>/s^2. Line 21 sets the number of steps in the homing sequence and line 22 sets the PrimeAllowance internally used in the instance of #30283.
Before executing Y_GP_GroupToHome, the user is expected to power the group's axes.
The result for this case can be summarized in the following image. Upon execution, the prime axes will be re-aligned to the main axes, following the order defined in the group's Mechanism configuration. When re-alignment is completed, then the sequence configured with GroupHomeData will be executed.
Example 2
This example shows the case for a remotely-hosted group (MotomanSync). The procedure is very similar to that in the case of locally-hosted groups. The following code snippet presents an example of the configuration for the GroupHomeData. Notice that in this case the PrimeAllowance is not used, this is because there are no prime axes involved and the re-alignment section of the code is skipped.
As with the previous example, the group should be powered before executing Y_GP_GroupToHome to ensure the motion can be executed. The group will internally enable the group, so that step is not necessary.
The resulting motion for the configured GroupHomeData is as in the following image: the rotational axes are moved to their home position first, followed by the movement of the translational axes.
The resulting motion for the configured GroupHomeData is as in the following image: the rotational axes are moved to their home position first, followed by the movement of the translational axes.