MC_StepReferenceFlyingRefPulse

The function block MC_StepReferenceFlyingRefPulse performs referencing during a running movement to the zero pulse of an encoder.

The execution does not start or modify any movement itself.

Inputs

VAR_INPUT
    Execute         : BOOL;
    ReferenceSignal : MC_Ref_Signal_Ref;
    SetPosition     : LREAL;
    TimeLimit       : TIME;
    DistanceLimit   : LREAL;
    BufferMode      : MC_BufferMode;
    Options         : ST_Home_Options;
END_VAR

Name	Type	Description
Execute	BOOL	The command is executed with a rising edge at the Execute input.
ReferenceSignal	MC_Ref_Signal_Ref	Configuration of the reference signal source.
SetPosition	LREAL	Position value that the axis position is set to.
TimeLimit	TIME	Exceeding this time leads to the search procedure being aborted.
DistanceLimit	LREAL	Exceeding this distance in relation to the start position leads to the search procedure being aborted.
BufferMode	MC_BufferMode	Currently not implemented.
Options	ST_Home_Options	Currently not used.

Inputs/Outputs

VAR_IN_OUT
    Axis : AXIS_REF;
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.

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.