SMC_Homing (FB)

FUNCTION_BLOCK SMC_Homing

This function block causes the execution of a homing drive of the axis axis. If SMC_Homing is executed, the axis is moved at fVelocityFast in the direction specified by nDirection as long as bEndSwitch = FALSE. The reference switch is then closed. The axis is decelerated and driven at fVelocitySlow in the opposite direction. At the point at which the reference switch opens with bEndSwitch = TRUE, the reference position fHomePosition is set and the drive is stopped.

InOut:

Scope	Name	Type	Initial	Comment
Inout	Axis	AXIS_REF_SM3
Input	bExecute	BOOL	FALSE
	fHomePosition	LREAL	0	Rising edge: Starts the execution of the function block.
	fVelocitySlow	LREAL	0	Low velocity; used to drive out of the reference switch [u/s]
	fVelocityFast	LREAL	0	High velocity; used until reference switch is found [u/s]
	fAcceleration	LREAL	0	Value of the acceleration (increasing energy of the motor) [u/s^2]
	fDeceleration	LREAL	0	Value of the deceleration (decreasing energy of the motor) [u/s^2]
	fJerk	LREAL	0	Value of the Jerk [u/s^3]
	nDirection	MC_Direction	negative	Direction: positive or negative
	bReferenceSwitch	BOOL	TRUE	TRUE: Switches the reference.
	fSignalDelay	LREAL	0	Time [s] for bReferenceSwitch to be transmitted.
	nHomingMode	SMC_HOMING_MODE	FAST_BSLOW_S_STOP	Homing mode
	bReturnToZero	BOOL	FALSE	TRUE: Moves to position zero after homing.
	bIndexOccured	BOOL	FALSE	Index pulse
	fIndexPosition	LREAL	0	Position where index occured
	bIgnoreHWLimit	BOOL	FALSE	TRUE: Sets bHWLimitEnable = FALSE during homing.
Output	bDone	BOOL	FALSE	TRUE: Homing has been done.
	bBusy	BOOL		TRUE: FB is not idle.
	bCommandAborted	BOOL	FALSE	TRUE: Commanded motion has been interrupted by any motion FB acting on the same axis except MoveSuperImposed.
	bError	BOOL	FALSE	TRUE: Error has occured within function block.
	nErrorID	SMC_ERROR	0	Error identification
	bStartLatchingIndex	BOOL		For some homing modes, the index pulse is evaluated. TRUE: Storing of the index pulse has been started and must be done by the application. The result is expected in the inputs bIndexOccured and fIndexPosition.