MC_HomeDirect

The MC_HomeDirect function block completes a successful homing sequence, resets the axis to a defined value and ensures that modified parameters are reset to their original values. The axis leaves the homing state.

	To complete a homing sequence (not when using passive homing functions exclusively) it is necessary to call a finalizing FB.

Inputs

VAR_INPUT
    Execute     : BOOL;
    SetPosition : LREAL;
    BufferMode  : MC_BufferMode;
    Options     : ST_Home_Options2;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge.
SetPosition	LREAL	Position value to which the axis position is set to.
BufferMode	MC_BufferMode	Currently not implemented
Options	ST_Home_Options2	DisableDriveAccess: Set to FALSE for Beckhoff drives, usually to TRUE for third-party drives (see info).

	If DisableDriveAccess = TRUE, the user is responsible for modifying and reconstructing required drive parameters. The parameters required for the intended homing sequence must be agreed with the manufacturer of the third-party drive.

/ Inputs/Outputs

VAR_IN_OUT
    Axis      : AXIS_REF;
    Parameter : MC_HomingParameter;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state.
Parameter	MC_HomingParameter	Data structure of the type MC_HomingParameter, which must be transferred from function block to function block over the entire homing sequence.

Outputs

VAR_OUTPUT
    Done           : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorID        : UDINT;
END_VAR

Name	Type	Description
Done	BOOL	Becomes TRUE, if the command was completed successfully.
Busy	BOOL	The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new order. At the same time one of the outputs, Done, CommandAborted or Error, is set.
Active	BOOL	Indicates that the command is executed.
CommandAborted	BOOL	Becomes TRUE, if the command could not be fully executed.
Error	BOOL	Becomes TRUE, as soon as an error occurs.
ErrorID	UDINT	If the error output is set, this parameter supplies the error number.