FC_InitHomeRestorePos - General Information
|
Type: |
Function |
|
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 setting the position of the axis based on the encoder position and/or stored values. The i_etMode input specifies the specific method as follows:
This homing method makes use of a motor’s absolute encoder capabilities. It is intended for linear systems or rotary systems.
The following table shortly explains the inputs dependent of the mode that is used.
|
Parameter |
PDL.ET_HomeMode.RestorePosFromAxisEncoder |
PDL.ET_HomeMode.RestorePosFromRetain |
|---|---|---|
|
i_lrUserPeriod |
User period for rotary systems, otherwise 0 |
User period for rotative systems, else 0 |
|
i_lrAbsEncOffset |
For a rotary system 0, otherwise see documentation for ST_HomeSetPos. |
For a rotary system 0, otherwise see documentation for ST_HomeSetPos. |
|
i_lrRestoreWindow |
-- |
Used |
|
i_xEnableInitAbsReadPos |
TRUE |
TRUE |
|
iq_stRestorePosition |
-- |
Used |
Specific information to parametrize homing with absolute encoder can be found in HowTo Homing.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etMode |
PDL.ET_HomeMode |
Specifies the specific type of homing to perform |
|
i_lrAbsEncOffset |
LREAL |
For rotative systems 0, else highest (absolute) value that can be reached in the negative travel range. For more details see the documentation of the data structure ST_HomeSetPos. |
|
i_lrRestoreWindow |
LREAL |
Only relevant if RESTORE FROM RETAIN is used. If a movement of the axis is recognized that is bigger than the indicated window, when switched on, an error is created. For more details see the documentation of the data structure ST_HomeSetPos. |
|
i_lrUserPeriod |
LREAL |
Specifies the user period of the axis in units |
|
i_xEnableInitAbsReadPos |
BOOL |
The i_xEnableInitAbsReadPos input must be set TRUE, to read out the values of the encoder when activating the module (= start of the program). The position of the axis is restored and the axis’s xHomeOK signal is set automatically after a controller reset. |
|
Input/Output |
Data type |
Description |
|---|---|---|
|
iq_stAxisModuleItf |
ST_ModuleInterface |
The axis interface structure of the associated axis |
|
iq_stRestorePosition |
PDL.ST_AxisRestorePosition |
Specifies the location where the encoder/axis relationship is stored |
