MC_StepReferencePulseDetection_BkPlcMc

The function block is used to reference an incremental position measuring system. The function block outputs the position of the reference pulse to the outside via RecordedPosition. No position is set.

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;
    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 at the reference pulse.

Behavior of the function block

On a rising edge at Execute the function block checks the transferred axis interface. During this process, problems may be detected and reported:

At Direction, MC_Positive_Direction_BkPlcMc, MC_Negative_Direction_BkPlcMc, is accepted

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 stops the movement. If no reference pulse is detected within DistanceLimit or TimeLimit the referencing is aborted with an error

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.