FC_InitHomeTouchProbe - General Information
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Type: |
Function |
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Available as of: |
V1.1.0.0 |
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Support for: |
PacDrive3 pilot template architecture |
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Versions: |
Current version |
Function for initialization of an axis that is controlled by the FB_AxisModule function block.
This function is used to specify that an axis, when homed, will be homed by seeking a measured input (touch probe). The i_etMode input specifies the homing direction:
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i_etMode |
Home Action |
|---|---|
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PDL.ET_HomeMode.PosDirectionPosEdgeTp |
Move in the positive direction until the rising edge of the touch probe is detected. |
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PDL.ET_HomeMode.NegDirectionPosEdgeTp |
Move in the negative direction until the rising edge of the touch probe is detected. |
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PDL.ET_HomeMode.NegDirectionNegEdgeTp |
Move in the negative direction until the falling edge of the touch probe is detected. |
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PDL.ET_HomeMode.PosDirectionNegEdgeTp |
Move in the positive direction until the falling edge of the touch probe is detected. |
All the possible values of i_etMode are enumerated in PDL.ET_HomeMode; however, the function returns FALSE if none of the above four values is used.
The i_xRotativeSystem input specifies how the axis will seek the touch probe sensor if the sensor is on when homing starts. An example for the PDL.ET_HomeMode.PosDirectionPosEdgeTp mode: If xRotativeSystem = FALSE, the axis will move in the negative direction until the Touchprobe sensor turns off (falling edge). The axis then reverses direction and begins a new. If xRotativeSystem = true, the axis will continue in the positive direction until the rising edge of the touch probe sensor is found.
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Input |
Data type |
Description |
|---|---|---|
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i_etMode |
PDL.ET_HomeMode |
Specifies the specific type of homing to perform |
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i_lrPosition |
LREAL |
Specifies the axis’s position after the homing process is complete in units |
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i_lrVelocity |
LREAL |
Specifies the homing velocity unless reduced velocity is enabled in units/sec |
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i_lrAcceleration |
LREAL |
Specifies the homing acceleration in units/sec^2 |
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i_lrDeceleration |
LREAL |
Specifies the homing deceleration in units/sec^2 |
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i_lrOffset |
LREAL |
Specifies the distance in units the axis will travel after sensing the touch probe input. The position of the axis after this move is set to the value of i_lrPosition |
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i_lrMaxTravel |
LREAL |
Specifies the maximum distance in units the axis will move when searching for the touch probe input. An error is generated if the axis can’t find the touch probe. The direction is determined by the specific homing mode |
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i_xRotativeSystem |
BOOL |
Specifies how the axis will seek the touch probe sensor if the sensor is on when homing starts. |
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i_lrJerk |
LREAL |
Specifies the jerk for homing in units/sec^3 |
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i_ifTouchProbe |
SystemConfigurationItf.IF_TouchProbe |
Specifies the Touchprobe input used for homing. |
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Input/Output |
Data type |
Description |
|---|---|---|
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iq_stAxisModuleItf |
ST_ModuleInterface |
The axis interface structure of the associated axis |
