MC_StepAbsoluteSwitchDetection_BkPlcMc

The function block is used for referencing via a limit switch. The function block outputs the position of the cam to the outside via RecordedPosition. No position is set.

Inputs

VAR_INPUT
    Execute:              BOOL; 
    Direction:            MC_Direction_BkPlcMc; 
    SwitchMode:           MC_SwitchMode_BkPlcMc; 
    ReferenceSignal:      MC_Ref_Signal_Ref_BkPlcMc; 
    Velocity:             LREAL; 
    Acceleration:         LREAL; 
    Deceleration:         LREAL; 
    Jerk:                 LREAL; 
    SetPosition:          LREAL; 
    TorqueLimit:          LREAL; 
    TimeLimit:            TIME; 
    DistanceLimit:        LREAL; 
    BufferMode:           MC_BufferMode_BkPlcMc:=Aborting_BkPlcMc; 
END_VAR

Name	Type	Description
Execute	BOOL	The homing is initiated by a rising edge at this input.
Direction	MC_Direction_BkPlcMc	The direction is specified via MC_Direction_BkPlcMc.
SwitchMode	MC_SwitchMode_BkPlcMc	The type of signal detection is specified via MC_SwitchMode_BkPlcMc.
ReferenceSignal	MC_Ref_Signal_Ref_BkPlcMc	The signal state of the cam is communicated via MC_Ref_Signal_Ref_BkPlcMc.
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.
SetPosition	LREAL	Required position on the referencing cam.
TorqueLimit	LREAL	reserved
TimeLimit	TIME	After this time, the referencing is canceled with error. At zero, time monitoring is disabled.
DistanceLimit	LREAL	After this distance, the referencing will be aborted with an error. At zero, the distance monitoring is disabled.
BufferMode	MC_BufferMode_BkPlcMc

Inputs/outputs

VAR_INOUT
    Axis:               Axis_Ref_BkPlcMc;
END_VAR

Name	Type	Description
Axis	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;
    RecordedPosition:   LREAL;
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.
RecordedPosition	LREAL	[mm] Determined position of the referencing cam.

Behavior of the function block

On a rising edge at Execute only MC_Positive_Direction_BkPlcMc, MC_Negative_Direction_BkPlcMc, MC_SwitchPositive_Direction_BkPlcMc, MC_SwitchNegative_Direction_BkPlcMc are accepted at the parameter Direction. The parameters Velocity, Acceleration, Deceleration and Jerk are transferred to MC_MoveVelocity_BkPlcMc. After the cam has been detected, the position is communicated via RecordedPosition and a MC_Halt_BkPlcMc aborts the movement.

During processing, the function block reports Busy and Active. After successful processing Done is reported back. If a subordinate function block reports an error, this is reported via Error and ErrorID.