Function blocks

In order to give the user control over the various referencing procedures, a number of additional function blocks (FBs) is defined. It is possible to describe complex referencing procedures by concatenating these FBs.

"Step" function blocks

The following FBs are suitable for the homing procedures and are executed in the axis state "Homing" or place the axis in this state. The axis state is not changed after completion, i.e. the axis remains in the "Homing" state afterwards.

• MC_StepAbsoluteSwitch / MC_StepAbsoluteSwitchDetection
• MC_StepLimitSwitch / MC_StepLimitSwitchDetection
• MC_StepBlock / MC_StepBlockDetection / MC_StepBlockLagBased / MC_StepBlockLagBasedDetection
• MC_StepReferencePulse / MC_StepReferencePulseDetection

Finalizing function blocks

These FBs lead to the final position and change the axis state from "Homing" to "Standstill".

• MC_HomeDirect
• MC_HomeAbsolute
• MC_FinishHoming
• MC_AbortHoming

Function blocks for flying homing

In addition, FBs are required that can be executed while the machine is running. The axis state is not "Homing", nor is it changed to this state. These FBs therefore have no effect on the state diagram (cf. PLCopen). Like administrative FBs they can be called in any movement states.

• MC_StepReferenceFlyingSwitch
• MC_StepReferenceFlyingRefPulse
• MC_AbortPassiveHoming