MC_StepReferencePulse_BkPlcMc

The function block is used to reference an incremental position measuring system. An actual value setting is carried out internally via the referencing pulse.

Inputs

VAR_INPUT
    Execute:              BOOL; 
    Direction:            MC_Direction_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.
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	reserved

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;
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 Direction, Velocity, Acceleration and Deceleration are transferred to the MC_StepReferencePulseDetection_BkPlcMc function block. If the internal function block MC_StepReferencePulseDetection_BkPlcMc is processed successfully, the determined position is set accordingly via MC_SetPosition_BkPlcMc.

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