MC_SetHomingState

This function block allows setting and resetting the IsPositionValid flag in the CDT_MCTOPLC_AXIS_STD. Optionally, it can also set the Position.

Syntax

Definition:

FUNCTION_BLOCK MC_SetHomingState
VAR_INPUT
    Axis           : Type_PtpSetHomingState;
    Execute        : BOOL;
    Position       : LREAL;
    Mode           : EHomingMode;
END_VAR
VAR_OUTPUT
    Done           : BOOL;
    Busy           : BOOL;
    Active         : BOOL;
    CommandAborted : BOOL;
    Error          : BOOL;
    ErrorId        : UDINT;
END_VAR

Inputs

Name	Type	Default	Description
Axis	Type_PtpSetHomingState		Reference to the axis
Execute	BOOL		Trigger the command with rising edge.
Position	LREAL	#Invalid	New position value ([PosUnit])
Mode	EHomingMode	ForceIsHomed	Homing mode selection

Outputs

Name	Type	Description
Done	BOOL	Homing succeeded
Busy	BOOL	Function block is not finished and new output values are to be expected.
Active	BOOL	Function block has active control on the axis.
CommandAborted	BOOL	Command is aborted by another command.
Error	BOOL	Error occurred within function block.
ErrorId	UDINT	Error identifier

Possible error codes

For this function block, the following values, among others, are possible for the ErrorId output:

Error(Hex)	Error(Dec)	Error type	Description
0x8145	33093	Function Block	Mapping of cyclic interface between NC and PLC is missing (e.g., AXIS_REF, AXES_GROUP_REF, ...). A reference used by the function block (e.g., to an axis, group, mover or other motion object) is not linked to the corresponding NC object, or its cyclic mapping is incomplete.
0x8151	33105	State	Command is not allowed in current axis state. If the axis has no controller enable, is in error or has been added to a group, some commands are not permitted.
0x81b8	33208	Parameter	No cam event was detected during homing. The axis did not detect the reference cam within the expected travel during homing.
0x81b9	33209	Parameter	No sync event was detected during homing. No sync event (e.g., encoder zero pulse) was detected during homing.

An overview of all NC error codes can be found here:

Other errors

Version information

TwinCAT Standard >= v3.1.4026.23.1
TF5500 MC3 Base >= v4.0.6