FB_HomeIn - General Information

Overview

Type:	Function block
Available as of:	V1.0.3.0
Inherits from:	-
Implements:	-
Versions:	Current version

Task

Homing an axis to a sensor signal.

Description

An axis i_ifDrive is moved to the reference position. The reference position is recognized using a sensor that is connected to the input i_xSensor.

The reference position counts as detected, if the sensor changes from the condition "not assigned" to "assigned" in the indicated direction.

Four modes (input i_etMode) are supported for the homing:

o....PosEdge...: i_xSensor = TRUE equates the condition "Sensor assigned" (normally open contact)

o....NegEdge...: i_xSensor = FALSE equates the condition "Sensor assigned" (normally closed contact)

When starting the reference travel, the following cases are distinguished:

oCase 1: The input i_xSensor (reference signal) indicates the condition "Sensor not assigned" when the reference travel is started

The axis moves to the parameterized direction until i_xSensor reports the condition "Sensor assigned" (reference signal). The direction and definition of the condition "assigned" is defined by the input i_etMode. Afterwards the axis stops at the following position: "Position when the reference signal is given" + i_lrOffset.

oCase 2: The input i_xSensor indicates the condition "Sensor assigned" when the reference travel is started.

Two cases are distinguished:

oIf the input i_xRotativeSystem = FALSE, then the axis moves to the opposite direction instead of the direction defined by the input i_etMode until the condition "Sensor not assigned" is detected on the input i_xSensor. Then, the axis moves as described in Case 1.

oIf the input i_xRotativeSystem = TRUE, then the axis moves in the direction that was defined by the input i_etMode until the next respective value of i_xSensor provides the condition "Sensor assigned" (reference signal).

oCase 3: The hardware limit switch, into whose direction the axis is supposed to move (defined by the input i_etMode), is enabled.

The axis moves in the opposite direction instead of the direction that was defined by the input i_etMode until the condition "Sensor assigned" is detected on the input i_xSensor. Afterwards the axis moves for i_xRotativeSystem = FALSE like described in Case 2.

oCase 4: The hardware limit switch opposite to the axis' direction of motion (defined by the input i_etMode) is enabled.

Then, the axis moves until it is free and subsequently moves as described for case 1.

If the axis meets the hardware limit switch during the reference travel, in whose direction the axis shall move (defined by the input i_etMode), then the axis will behave like described in Case 3 after reaching the hardware limit switch.

Interface

Input	Data type	Description
i_xEnable	BOOL	A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU. A deactivated POU does not execute any actions.
i_ifDrive	IF_Drive	Input for the axis that shall be controlled.
i_xSensor	BOOL	Input for the sensor signal (digital input of the PacDrive system)
i_etMode	ET_HomeInMode	Reference mode
i_lrOffset	LREAL	Offset between sensor signal and reference point. An offset is always added to the position that was held when the sensor signal occurred.
i_lrMaxTravel	LREAL	Maximum distance for referencing: The movements into the direction of motion are defined by the input i_etMode until the hardware limit switch is enabled. The maximum distance will not be considered because the following movement in the opposite direction will be allowed for the maximum defined distance. For a graphical explanation of i_lrMaxTravel.
i_lrHomePosition	LREAL	Reference position at the end of the referencing.
i_lrVel	LREAL	Velocity (change of position) in units/s.
i_lrAcc	LREAL	Acceleration (change of velocity) in units/s².
i_lrDec	LREAL	Deceleration (change of velocity) in units/s².
i_lrJerk	LREAL	Jerk (change of acceleration/deceleration) in units/s³.
i_xHwLimitNeg	BOOL	Negative hardware limit switch (digital input of the PacDrive system) Make contact (normally open).
i_xHwLimitPos	BOOL	Positive hardware limit switch input (digital input of the PacDrive system). Make contact (normally open).
i_xRotativeSystem	BOOL	TRUE: rotative system. FALSE: linear system.
i_xStart	BOOL	Starts referencing.

Output	Data type	Description
q_xActive	BOOL	TRUE: The POU is active and has to be executed further. FALSE: The POU is inactive.
q_xReady	BOOL	TRUE: The POU is ready to operate and can accept user commands. FALSE: The POU is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to an diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.
q_xMotionInstructionActive	BOOL	TRUE: The axis is processing a motion command. The output is also set if the motion command defines that the axis is at stand still, e.g. due to a standing master.
q_lrPosition	LREAL	Position of the axis.
q_xHomeOk	BOOL	Axis stops at the reference position.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	9	The POU is disabled.
OK	HomingDone	222	Homing has been performed.
OK	Initializing	4	The POU is being initialized.
OK	WaitForNegEdgeOfSensor	216	Waiting for negative edge of the sensor signal.
OK	WaitForSensorSignal	218	Waiting for sensor signal.
OK	WaitForStart	5	Waiting for starting command.
OK	WaitUntilDisabled	8	Waiting until the POU is deactivated.
OK	WaitUntilLimitSwitchFree	217	Waiting until limit switch is free.
OK	WaitUntilStopped	159	Waiting until the drive has stopped.
DriveConditionInvalid	DriveNotReady	10	The drive is not ready for motion commands.
HomingFailed	HwLimitNegStillActive	275	HwLimitNeg is still active.
HomingFailed	HwLimitPosStillActive	276	HwLimitPos is still active.
HomingFailed	SensorNotFound	220	No sensor signal was found.
InputParameterInvalid	AccRange	12	Acc is outside the valid range.
InputParameterInvalid	DecRange	13	Dec is outside the valid range.
InputParameterInvalid	DriveInvalid	3	The connected drive is invalid.
InputParameterInvalid	JerkRange	14	Jerk is outside the valid range.
InputParameterInvalid	MaxTravelRange	215	MaxTravel is outside the valid range.
InputParameterInvalid	UnknownMode	111	The Mode is indeterminable.
InputParameterInvalid	VelRange	11	Vel is outside the valid range.
LimitReached	HwLimitNegReached	219	Negative limit switch has been reached.
LimitReached	HwLimitPosReached	221	Positive limit switch has been reached.
SercosConditionInvalid	SercosNotInPhaseFour	19	The Sercos bus is not in phase 4.
UnexpectedProgramBehavior	UnexpectedFeedback	1	An unintended detected error occurred during execution.
UnexpectedProgramBehavior	UnknownState	2	The POU is in an undefined state.

AccRange

Enumeration name:	AccRange
Enumeration value:	12
Description:	Acc is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrAcc, an invalid value has been transferred.	The following must hold: 0 < i_lrAcc < drive parameter MaxAcc For the valid value range for i_lrAcc, see output q_sMsg

Issue

Cause

Solution

At the input i_lrAcc, an invalid value has been transferred.

The following must hold: 0 < i_lrAcc < drive parameter MaxAcc

For the valid value range for i_lrAcc, see output q_sMsg

DecRange

Enumeration name:	DecRange
Enumeration value:	13
Description:	Dec is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrDec, an invalid value has been transferred.	The following must hold: 0 < i_lrDec < drive parameter MaxAcc For the valid value range for i_lrDec, see output q_sMsg

Issue

Cause

Solution

At the input i_lrDec, an invalid value has been transferred.

The following must hold: 0 < i_lrDec < drive parameter MaxAcc

For the valid value range for i_lrDec, see output q_sMsg

Disabled

Enumeration name:	Disabled
Enumeration value:	9
Description:	The POU is disabled.

The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	3
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	At the input i_ifDrive, no drive was applied.	At the input i_ifDrive, a valid drive must be transferred.
-	The connected drive does not support all required functionalities.	Establish which functionalities are not supported by the drive by means of output q_sMsg. Use a drive which supports all required functionalities.

Issue

Cause

Solution

At the input i_ifDrive, no drive was applied.

At the input i_ifDrive, a valid drive must be transferred.

The connected drive does not support all required functionalities.

Establish which functionalities are not supported by the drive by means of output q_sMsg.

Use a drive which supports all required functionalities.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	10
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis is not in position control.	Verify the state of the axis.
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The axis is not in position control.

Verify the state of the axis.

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

HomingDone

Enumeration name:	HomingDone
Enumeration value:	222
Description:	Homing has been performed.

The homing sequence has been completed successfully.

HwLimitNegReached

Enumeration name:	HwLimitNegReached
Enumeration value:	219
Description:	Negative limit switch has been reached.

Issue	Cause	Solution
-	The negative hardware limit switch has been found when searching the reference signal.	Verify the reference signal sensor. Verify the signal at the input i_xSensor. Verify the mode i_etMode.

Issue

Cause

Solution

The negative hardware limit switch has been found when searching the reference signal.

Verify the reference signal sensor.

Verify the signal at the input i_xSensor.

Verify the mode i_etMode.

HwLimitNegStillActive

Enumeration name:	HwLimitNegStillActive
Enumeration value:	275
Description:	HwLimitNeg is still active.

Issue	Cause	Solution
-	The negative limit switch (i_xHwLimitNeg = TRUE) is still enabled. However, a sensor signal has been detected or the maximum travel distance (i_lrMaxTravel) has been reached.	Verify the signal at the input i_xHwLimitNeg. Verify the value for the maximum travel distance at the i_lrMaxTravel input. Ensure that the sensor of the negative limit switch is not dirty.

Issue

Cause

Solution

The negative limit switch (i_xHwLimitNeg = TRUE) is still enabled.

However, a sensor signal has been detected or the maximum travel distance (i_lrMaxTravel) has been reached.

Verify the signal at the input i_xHwLimitNeg.

Verify the value for the maximum travel distance at the i_lrMaxTravel input.

Ensure that the sensor of the negative limit switch is not dirty.

HwLimitPosReached

Enumeration name:	HwLimitPosReached
Enumeration value:	221
Description:	Positive limit switch has been reached.

Issue	Cause	Solution
-	The positive hardware limit switch has been found when searching the reference signal.	Verify the reference signal sensor. Verify the signal at the input i_xSensor. Verify the mode i_etMode.

Issue

Cause

Solution

The positive hardware limit switch has been found when searching the reference signal.

Verify the reference signal sensor.

Verify the signal at the input i_xSensor.

Verify the mode i_etMode.

HwLimitPosStillActive

Enumeration name:	HwLimitPosStillActive
Enumeration value:	276
Description:	HwLimitPos is still active.

Issue	Cause	Solution
-	The positive limit switch (i_xHwLimitPos = TRUE) is still enabled. However, a sensor signal has been detected or the maximum travel distance (i_lrMaxTravel) has been reached.	Verify the signal at the input i_xHwLimitPos. Verify the value for the maximum travel distance at the i_lrMaxTravel input. Ensure that the sensor of the negative limit switch is not dirty.

Issue

Cause

Solution

The positive limit switch (i_xHwLimitPos = TRUE) is still enabled.

However, a sensor signal has been detected or the maximum travel distance (i_lrMaxTravel) has been reached.

Verify the signal at the input i_xHwLimitPos.

Verify the value for the maximum travel distance at the i_lrMaxTravel input.

Ensure that the sensor of the negative limit switch is not dirty.

Initializing

Enumeration name:	Initializing
Enumeration value:	4
Description:	The POU is being initialized.

The function block is being initialized and thus is not yet ready to receive commands at its inputs.

The function block will signalize that it is ready for operation with the signal q_xReady = TRUE.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	14
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrJerk, an invalid value has been applied.	At the input i_lrJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

MaxTravelRange

Enumeration name:	MaxTravelRange
Enumeration value:	215
Description:	MaxTravel is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrMaxTravel, an invalid value has been applied.	At the input i_lrMaxTravel, a value greater than 0 must be transferred.

SensorNotFound

Enumeration name:	SensorNotFound
Enumeration value:	220
Description:	No sensor signal was found.

Issue	Cause	Solution
-	The sensor signal is not transmitted to the function block.	Ensure that the signal has been applied at the function block's input i_xSensor.
-	The sensor does not transmit a signal.	Verify the power supply of the sensor. Ensure that the sensor is not covered. Ensure that the sensor can be triggered by the mechanical system. Verify the electrical connection of the sensor and the Touchprobe input.

Issue

Cause

Solution

The sensor signal is not transmitted to the function block.

Ensure that the signal has been applied at the function block's input i_xSensor.

The sensor does not transmit a signal.

Verify the power supply of the sensor.

Ensure that the sensor is not covered.

Ensure that the sensor can be triggered by the mechanical system.

Verify the electrical connection of the sensor and the Touchprobe input.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	19
Description:	The Sercos bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	1
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

UnknownMode

Enumeration name:	UnknownMode
Enumeration value:	111
Description:	The Mode is indeterminable.

Issue	Cause	Solution
-	At the input i_etMode, an invalid value has been applied.	At the input i_etMode, an element of the enumeration ET_HomeInMode must be applied.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	2
Description:	The POU is in an undefined state.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

VelRange

Enumeration name:	VelRange
Enumeration value:	11
Description:	Vel is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrVel, an invalid value has been applied.	Apply a value greater than 0 and smaller than the axis parameter MaxVel to i_lrVel.

WaitForNegEdgeOfSensor

Enumeration name:	WaitForNegEdgeOfSensor
Enumeration value:	216
Description:	Waiting for negative edge of the sensor signal.

The sensor input is continuously checked for a negative edge.

WaitForSensorSignal

Enumeration name:	WaitForSensorSignal
Enumeration value:	218
Description:	Waiting for sensor signal.

The axis is moved to the reference sensor.

WaitForStart

Enumeration name:	WaitForStart
Enumeration value:	5
Description:	Waiting for starting command.

The function block has completed its initialization and is waiting for a positive edge at the input i_xStart before continuing the processing.

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	8
Description:	Waiting until the POU is deactivated.

The function block is disabled. All internal states are reset and connected resources (e.g. axes) are transferred to a safe state. The function block has to be called up continuously until it reports q_xActive = FALSE.

WaitUntilLimitSwitchFree

Enumeration name:	WaitUntilLimitSwitchFree
Enumeration value:	217
Description:	Waiting until limit switch is free.

The axis is moved away from the limit switch and back into its processing range.

WaitUntilStopped

Enumeration name:	WaitUntilStopped
Enumeration value:	159
Description:	Waiting until the drive has stopped.

The axis is stopped.

Methods

Name	Description
RegisterLoggerPoint	Registering the logger points of the POU in the Application Logger