Yt_AX_HomeStruct
Yt_AX_HomeStruct: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Direction | INT | Used in conjunction with MC_StepLimitSwitch Function Block |
|
| SwitchMode | MC_SwitchMode | Configuration for action of the home sensor. |
|
| TorqueLimit: | LREAL | Default if unused [ZERO] is 100.00% of rated torque |
|
| ApproachVelocity | LREAL | Units: user units / second |
|
| ApproachTimeLimit | LREAL | Units: seconds |
|
| ApproachDistanceLimit | LREAL | Units: user units |
|
| AccDec | LREAL | Units: user units / second² |
|
| LimitBackOffDistance | LREAL | Units: user units. |
|
| CreepVelocity | LREAL | Units: user units / second |
|
| CreepTimeLimit | LREAL | Units: seconds |
|
| CreepDistanceLimit | LREAL | Units: user units |
|
| Offset | LREAL | Position offset to MOVE after finding the last input device (sensor of C channel) |
|
| OffsetVelocity | LREAL | Units: user units / second |
|
| Position | LREAL | This is the location that will be defined when all homing actions are complete, including the offset move. |
|
| Homed | BOOL | Flag to indicate that the axis was successfully homed, for user, the Home functions do not set or use this data |
|
Notes:
- Direction
- Required for all Home blocks
- Only MC_Direction#Positive_Direction [INT#0] and MC_Direction#Negative_Direction [INT#2] apply
- Defines the direction of the Approach move for Home_TouchProbe, Home_LS, Home_LS_Pulse
- Defines the direction of the Creep move for Home_Pulse
- Creep move will be opposite this direction for Home_LS_Pulse
- SwitchMode
- Required for Home_LS and Home_LS_Pulse
- Only MC_SwitchMode#EdgeOn [INT#0] is supported
- Defines the limit switch mode for internal MC_StepLimitSwitch block
- TorqueLimit [% of rated]
- Optional for Home_LS, Home_LS_Pulse and Home_Pulse
- Set to 0.0 to disable
- If absolute value of motor torque reaches absolute value of TorqueLimit while homing, motion will stop and block will produce an error
- TorqueLimit is not active during the Offset move
- TorqueLimit is not active during BackOff move of HomeLS and Home_LS_Pulse
- <is it active if block runs during OT? Guessing maybe?>
- ApproachVelocity [UserUnits/sec]
- Required for Home_LS, Home_LS_Pulse, Home_TouchProbe
- Sets the velocity for the initial approach move
- Value must be > 0.0
- ApproachTimeLimit [seconds as LREAL]
- Optional for Home_LS, Home_LS_Pulse
- Set to 0.0 to disable
- Value must be > 0.0
- If duration of approach move exceeds the limit, motion will stop and block will produce an error
- ApproachDistanceLimit [UserUnits]
- Optional for Home_LS, Home_LS_Pulse
- Set to 0.0 or <0.0 to disable
- Sets the maximum distance the axis will travel in search of the over-travel sensor (DistanceLimit for internal MC_StepLimitSwitch)
- Value must be >0.0
- Required for Home_TouchProbe
- Sets the distance of the initial approach move for Home_TouchProbe
- Positive and negative values produce the same result
- AccDec [UserUnits/sec^2]
- Required for all Home blocks
- Sets the acceleration and deceleration rate for Approach move, BackOff move, Creep move and Offset move
- Home_LS, Home_LS_Pulse approach move deceleration during over-travel is determined by Over-travel Stop Mode (Pn001.1) and not by AccDec
- LimitBackOffDistance [UserUnits]
- Optional for Home_LS_Pulse only
- Set to 0.0 to disable
- Sets the distance moved after Approach move stops by over-travel
- Direction of LimitBackOffDistance will always be opposite that of the approach move
- CreepVelocity [UserUnits/sec]
- Required for Home_LS_Pulse, Home_Pulse
- Sets the velocity of the Creep move
- Value must be > 0.0
- Slow velocity <1rpm is recommended
- CreepTimeLimit [seconds as LREAL]
- Optional for Home_LS_Pulse, Home_Pulse
- Set to 0.0 to disable
- Value must be > 0.0
- If duration of creep move exceeds the limit, motion will stop and block will produce an error
- CreepDistanceLimit [UserUnits]
- Optional for Home_LS_Pulse, Home_Pulse
- Set to 0.0 to disable
- Value must be > 0.0
- If duration of creep move exceeds the limit, motion will stop and block will produce an error
- Offset [UserUnits]
- Required for all Home blocks
- Sets the distance of the final Offset move
- Offset>0.0 for positive direction and Offset<0.0 for negative direction
- Offset=0.0 to skip the offset move
- For Home_LS and Home_LS_Pulse, the direction of the offset move must be opposite to the direction of the approach move (Direction=positive, then Offset<0 or Direction=negative, then Offset>0)
- OffsetVelocity [UserUnits/sec]
- Required for all Home blocks
- Sets the speed of the final Offset move
- Value must be >0.0 even if Offset=0.0
- Position [UserUnits]
- Required for all Home blocks
- Sets axis position after the final Offset move
- Homed [BOOL]
- Not used by any Home blocks
- User program can set this bit to indicate homing status
The following table describes which elements of the structure are used by different homing blocks.
