This function block configures and starts a reference movement.
The MC_Home function block commands the homing procedure. Drive-specific homing parameters like homing mode are provided by the device implementation. Re-executing this function block commands a Quick-Stop in the drive and leads to a the function block error NoReExecution. The homing procedure can be aborted only by executing MC_Stop or disabling the power stage via MC_Power.
Executing another motion function block while MC_Home is busy does not influence the homing procedure. This means that the function block MC_Home stays busy and the executed function block ends in a function block error.
Library name: GMC Independent PLCopen MC
Namespace: GIPLC
|
Input |
Data type |
Description |
|---|---|---|
|
Execute |
BOOL |
Value range: FALSE, TRUE. Default value: FALSE. A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE. A rising edge at the input Execute is not permitted while the function block is being executed. |
|
Position |
DINT |
Value range: -2147483648...2147483647 Default value: 0. Position at reference point in user-defined units. |
|
Output |
Data type |
Description |
|---|---|---|
|
Done |
BOOL |
Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution has not been started, or an error has been detected. oTRUE: Execution terminated without an error detected. |
|
Busy |
BOOL |
Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Function block is not being executed. oTRUE: Function block is being executed. |
|
CommandAborted |
BOOL |
Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution has not been aborted. oTRUE: Execution has been aborted by another function block. |
|
Error |
BOOL |
Value range: FALSE, TRUE. Default value: FALSE. oFALSE: Execution of the function block is running, no error has been detected. oTRUE: An error has been detected in the execution of the function block. |
|
ErrorID |
WORD |
Returns the value of a diagnostic code. Refer to Library Diagnostic Codes. If the value is 0 and if the output Error of this function block is set to TRUE, then the diagnostic code can be read with the output AxisErrorID of the function block MC_ReadAxisError. |
|
Input/Output |
Data type |
Description |
|
|---|---|---|---|
|
Axis |
Axis_Ref |
Reference to the axis (instance) for which the function block is to be executed (corresponds to the name of the axis). The name of the axis must be defined in the EcoStruxure Machine Expert Devices tree. |
|
This function block uses library-specific acceleration and deceleration values for LXM32M (EtherNet/IP and Modbus/TCP) and for Lexium ILA, ILE and ILS integrated drives (EtherNet/IP only). This means that pre-configured values for these parameters (for example, via the commissioning tool) are overwritten when this function block is executed.
The default acceleration and deceleration values written by this function block are as follows:
oThe default value for acceleration is 600 user-defined units.
oThe default values for deceleration are 600 user-defined units for LXM32M and 750 user-defined units for Lexium ILA, ILE and ILS integrated drives.
If you require other acceleration and/or deceleration values, you must use the vendor-specific function blocks to do so. Use the function blocks SetDriveRamp_LXM32 and SetDriveRamp_ILX to define the acceleration and deceleration. The function block has to be executed only once if a change of the ramp values is required.
