MC_Home
Reference point travel of the axis is commanded with the MC_Home FB. How an axis responds to this command essentially depends on the type of referencing operation. This is specified in the axis list (achsmdsX.lis) via the ‘kenngr.homing.homing_type’ element.
Block diagram
Parameters of the FB
VAR_IN_OUT | |||
| Axis | AXIS_REF | Axis reference. |
VAR_INPUT | |||
| Execute | BOOL | Start the axis referencing at rising edge. |
VAR_OUTPUT | |||
| Done | BOOL | When axis referencing is finished, the output of ‘Done’ is TRUE and the axis is in state ‘Standstill’. |
| CommandAborted | BOOL | TRUE indicates that the referencing command has been aborted by another command. |
| Error | BOOL | Indicates if an error has occurred. |
| ErrorID | WORD | Error identification. |
General behavior of the FB
- Commanding reference point travel is permissible only if the axis is in the ‘Standstill’ state. If this is not the case, the ‘Error’ output is set to FALSE and ‘ErrorID’ indicates an error value that designates the state the axis is currently in.
- No new command can be sent when this FB is active. It cannot be retriggered. If an attempt is nevertheless made to do this, the FB returns the error 44007 (ERR_PO_AX_HOMING_RETRIGGERD).
- The axis changes to the ‘Homing’ state directly after command of reference point travel.
More:
- Dependencies on the type of referencing method
Further Information