MC_FinishHoming_BkPlcMc

MC_FinishHoming_BkPlcMc 1:

The function block is used to cancel a referencing process.

Inputs

VAR_INPUT
    Execute:          BOOL; 
    Distance:         LREAL; 
    Velocity:         LREAL; 
    Acceleration:     LREAL; 
    Deceleration:     LREAL; 
    Jerk:             LREAL; 
    BufferMode:       MC_BufferMode_BkPlcMc:=Aborting_BkPlcMc; 
END_VAR

Name	Type	Description
Execute	BOOL	A rising edge at this input starts the movement and terminates the referencing.
Distance	LREAL	[mm] The distance to the target position of the movement in actual value units of the axis.
Velocity	LREAL	[mm/s] The required motion velocity in actual value units of the axis per second.
Acceleration	LREAL	[mm/s²] The required acceleration in actual value units of the axis per square second. If this parameter is 0.0, it is replaced by a default value from the axis parameters.
Deceleration	LREAL	[mm/s²] The required deceleration in actual value units of the axis per square second. If this parameter is 0.0, it is replaced by a default value from the axis parameters.
Jerk	LREAL	[mm/s³] The required jerk in actual value units of the axis per square second. If this parameter is 0.0, it is replaced by a default value from the axis parameters.
BufferMode	MC_BufferMode_BkPlcMc	reserved

Inputs/outputs

VAR_INOUT
    Axis:               Axis_Ref_BkPlcMc;
END_VAR

Name	Type	Description
Axis sLog	Axis_Ref_BkPlcMc	Here, the address of a variable of type Axis_Ref_BkPlcMc should be transferred.

Outputs

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

Name	Type	Description
Done	BOOL	Successful processing is indicated here
Busy	BOOL	Indicates that a command is being processed.
Active	BOOL	Readiness for operation is indicated here.
CommandAborted	BOOL	Here an abort of the command is indicated.
Error	BOOL	The occurrence of an error is indicated here.
ErrorID	UDINT	An encoded error message is provided here.

Behavior of the function block

On a rising edge at Execute the parameters Distance, Velocity, Acceleration and Deceleration are transferred to the MC_MoveRelative_BkPlcMc function block. After checking the transferred parameters, the movement is executed.

If the motion algorithm reports an error code while the movement is being executed, the system responds with Error and ErrorID:=the motion algorithm's error code. If completion of the movement is prevented by the activity of another function block, the system responds with CommandAborted. If the motion algorithm achieves the target conditions for the axis, the system responds with Done.

A falling edge at Execute clears all the pending output signals. If, while the movement is still active, Execute is set to FALSE, execution of the movement that had started continues unaffected. The signals provided at the end of the movement (Error, ErrorID, CommandAborted, Done) are made available for one cycle.

The axis is in the state McState_Homing during the movement, at the end the state changes to McState_Standstill.