This function block commands the homing procedure using the Lexium ILA, ILE and ILS integrated drives specific homing method set via the input HomingMode. Drive-specific homing parameters such as homing mode are provided by the device implementation. Re-executing this function block commands a Quick-Stop in the drive and leads to a function block error NoReExecution .
The homing procedure can be aborted only by executing MC_Stop or disabling the power stage through 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 Lexium
Namespace: GILXM
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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 in user-defined units: o1...34: Position at reference point o35: Position for position setting |
|
HomingMode |
UINT |
Value range: 1...35 Default value: 18 (only for EtherNet/IP and Modbus/TCP) See Homing Methods for a list of the supported methods. Alternatively you can use the enumeration ET_LexiumHomingMode for EtherNet/IP and Modbus/TCP drives or the enumeration ET_LexiumHomingMode_ILX1 for CANopen drives. Refer to documentation of the drive for a description of the homing method. |
|
VHome |
DINT |
Value range: 1...13200 Default value: 60 Target velocity for searching the switch in rpm. |
|
VOutHome |
DINT |
Value range: 1...13200 Default value: 6 Target velocity for searching the switch in rpm. |
|
POutHome |
DINT |
Value range: 0...2147483647 Default value: 0 Maximum distance for search for switching point in user-defined units. o0: Search distance monitoring disabled o>0: Maximum distance After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found within the distance defined here, an error is detected and the reference movement is canceled. |
|
PDisHome |
DINT |
Value range: 0...2147483647 Default value: 200 Maximum search distance after overtravel of switch in user-defined units. o0: Search distance monitoring disabled o>0: Search distance The switch must be activated again within this search distance; otherwise the reference movement is canceled. |
|
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. |
|
Specifies the homing method for EtherNet/IP and Modbus/TCP:
o1: LIMN with index pulse
o2: LIMP with index pulse
o7: REF+ with index pulse, inverted, outside
o8: REF+ with index pulse, inverted, inside
o9: REF+ with index pulse, not inverted, inside
o10: REF+ with index pulse, not inverted, outside
o11: REF- with index pulse, inverted, outside
o12: REF- with index pulse, inverted, inside
o13: REF- with index pulse, not inverted, inside
o14: REF- with index pulse, not inverted, outside
o17: LIMN
o18: LIMP
o23: REF+, inverted, outside
o24: REF+, inverted, inside
o25: REF+, not inverted, inside
o26: REF+, not inverted, outside
o27: REF-, inverted, outside
o28: REF-, inverted, inside
o29: REF-, not inverted, inside
o30: REF-, not inverted, outside
o33: Index pulse in negative direction
o34: Index pulse in positive direction
o35: Position setting
Specifies the homing method for CANopen:
o1: LIMN
o2: LIMP
o3: REF in negative direction
o4: REF in positive direction
o5: Index pulse in negative direction (only ILA and ILS)
o6: Index pulse in positive direction (only ILA and ILS)
o7: Movement to block in negative direction (only ILE)
o8: Movement to block in positive direction (only ILE)
o23: REF+, inverted, outside
o24: REF+, inverted, inside
o25: REF+, not inverted, inside
o26: REF+, not inverted, outside
o27: REF-, inverted, outside
o28: REF-, inverted, inside
o29: REF-, not inverted, inside
o30: REF-, not inverted, outside
o35: Position setting
This function block uses library-specific acceleration and deceleration values 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 rpm/s.
oThe default value for deceleration is 750 rpm/s.
If you require other acceleration and/or deceleration values, you must use the vendor-specific function blocks to do so. Use the function block 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.
