MC_Home_PTO: Command the Axis to Move to a Reference Position

Graphical Representation

IL and ST Representation

To see the general representation in IL or ST language, refer to the chapter Function and Function Block Representation.

Input Variables

This table describes the input variables:

Input	Type	Initial Value	Description
Axis	AXIS_REF_PTO	-	Name of the axis (instance) for which the function block is to be executed. In the devices tree, the name is declared in the controller configuration.
Execute	BOOL	FALSE	On rising edge, starts the function block execution. On falling edge, resets the outputs of the function block when its execution terminates.
Mode	PTO_HOMING_MODE	mcPositionSetting	Predefined home mode type.
Position	DINT	0	Position value is set as absolute position at the reference point switch detection, when the homing has been successfully executed.
Direction	MC_DIRECTION	mcPositiveDirection	Starting direction. For Homing, only mcPositiveDirection and mcNegativeDirection are valid.
HighVelocity	DINT	0	Target homing velocity for searching the limit or reference switch. Range Hz: 1...MaxVelocityAppl
LowVelocity	DINT	0	Target homing velocity for searching the reference switch or index signal. The movement stop when switching point is detected. Range Hz: 1...HighVelocity
Acceleration	DINT	0	Acceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxAccelerationAppl Range (ms): MaxAccelerationAppl...100,000
Deceleration	DINT	0	Deceleration in Hz/ms or in ms (according to configuration). Range (Hz/ms): 1...MaxDecelerationAppl Range (ms): MaxDecelerationAppl...100,000
Offset	DINT	0	Distance from origin point. When the origin point is reached, the motion resumes until the distance is covered. Direction depends on the sign (Home offset). Range: -2,147,483,648...2,147,483,647
JerkRatio1	INT	0	Percentage of acceleration from standstill used to create the S-curve profile.
JerkRatio2	INT	0	Percentage of acceleration to constant velocity used to create the S-curve profile.
JerkRatio3	INT	0	Percentage of deceleration from constant velocity used to create the S-curve profile.
JerkRatio4	INT	0	Percentage of deceleration to standstill used to create the S-curve profile.

Output Variables

This table describes the output variables:

Output	Type	Initial Value	Description
Done	BOOL	FALSE	If TRUE, indicates that the function block execution is finished with no error detected .
Busy	BOOL	FALSE	If TRUE, indicates that the function block execution is in progress.
Active	BOOL	FALSE	The function block controls the Axis. Only one function block at a time can set Active TRUE for a defined Axis.
CommandAborted	BOOL	FALSE	Function block execution is finished, by aborting due to another move command or an error detected .
Error	BOOL	FALSE	If TRUE, indicates that an error was detected. Function block execution is finished.
ErrorId	PTO_ERROR	PTO_ERROR.NoError	When Error is TRUE: code of the error detected .

NOTE: The acceleration/deceleration duration of the segment block must not exceed 80 seconds.

Timing Diagram Example

Home modes