Home_ILX

Functional Description

This function block commands the homing procedure using the Lexium ILA, ILE and ILS integrated drives specific homing method set via the input HomingMode. Drive-specific homing parameters such as homing mode are provided by the device implementation. Re-executing this function block commands a Quick-Stop in the drive and leads to a function block error NoReExecution.

The homing procedure can be aborted only by executing MC_Stop or disabling the power stage through MC_Power.

Executing another motion function block while MC_Home is busy does not influence the homing procedure. This means that the function block MC_Home stays busy and the executed function block ends in a function block error.

Library and Namespace

Library name: GMC Independent Lexium

Namespace: GILXM

Graphical Representation

Inputs

Input

Data type

Description

Execute

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

A rising edge of the input Execute starts the function block. The function block continues execution and the output Busy is set to TRUE.

A rising edge at the input Execute is not permitted while the function block is being executed.

Position

DINT

Value range: -2147483648...2147483647

Default value: 0

Position in user-defined units:

  • 1...34: Position at reference point

  • 35: Position for position setting

HomingMode

UINT

Value range: 1...35

Default value: 18 (only for EtherNet/IP and Modbus TCP)

See Homing Methods for a list of the supported methods.

Alternatively you can use the enumeration ET_LexiumHomingMode for EtherNet/IP and Modbus TCP drives or the enumeration ET_LexiumHomingMode_ILX1 for CANopen drives.

Refer to documentation of the drive for a description of the homing method.

VHome

DINT

Value range: 1...13200

Default value: 60

Target velocity for searching the switch in rpm.

VOutHome

DINT

Value range: 1...13200

Default value: 6

Target velocity for searching the switch in rpm.

POutHome

DINT

Value range: 0...2147483647

Default value: 0

Maximum distance for search for switching point in user-defined units.

  • 0: Search distance monitoring disabled

  • >0: Maximum distance

After detection of the switch, the drive starts to search for the defined switching point. If the defined switching point is not found within the distance defined here, an error is detected and the reference movement is canceled.

PDisHome

DINT

Value range: 1...2147483647

Default value: 200

Distance from switching point in user-defined units.

The distance from the switching point is defined as the reference point.

The parameter is only effective during a reference movement without index pulse.

Outputs

Output

Data type

Description

Done

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Execution has not been started, or an error has been detected.

  • TRUE: Execution terminated without an error detected.

Busy

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Function block is not being executed.

  • TRUE: Function block is being executed.

CommandAborted

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Execution has not been aborted.

  • TRUE: Execution has been aborted by another function block.

Error

BOOL

Value range: FALSE, TRUE.

Default value: FALSE.

  • FALSE: Execution of the function block is running, no error has been detected.

  • TRUE: An error has been detected in the execution of the function block.

ErrorID

WORD

Returns the value of a diagnostic code. Refer to Library Diagnostic Codes. If the value is 0 and if the output Error of this function block is set to TRUE, then the diagnostic code can be read with the output AxisErrorID of the function block MC_ReadAxisError.

Inputs/Outputs

Input/Output

Data type

Description

Axis

Axis_Ref

Reference to the axis (instance) for which the function block is to be executed (corresponds to the name of the axis). The name of the axis must be defined in the EcoStruxure Machine Expert Devices tree.

Homing Methods

Specifies the homing method for EtherNet/IP and Modbus TCP:

  • 1: LIMN with index pulse

  • 2: LIMP with index pulse

  • 7: REF+ with index pulse, inverted, outside

  • 8: REF+ with index pulse, inverted, inside

  • 9: REF+ with index pulse, not inverted, inside

  • 10: REF+ with index pulse, not inverted, outside

  • 11: REF- with index pulse, inverted, outside

  • 12: REF- with index pulse, inverted, inside

  • 13: REF- with index pulse, not inverted, inside

  • 14: REF- with index pulse, not inverted, outside

  • 17: LIMN

  • 18: LIMP

  • 23: REF+, inverted, outside

  • 24: REF+, inverted, inside

  • 25: REF+, not inverted, inside

  • 26: REF+, not inverted, outside

  • 27: REF-, inverted, outside

  • 28: REF-, inverted, inside

  • 29: REF-, not inverted, inside

  • 30: REF-, not inverted, outside

  • 33: Index pulse in negative direction

  • 34: Index pulse in positive direction

  • 35: Position setting

Specifies the homing method for CANopen:

  • 1: LIMN

  • 2: LIMP

  • 3: REF in negative direction

  • 4: REF in positive direction

  • 5: Index pulse in negative direction (only ILA and ILS)

  • 6: Index pulse in positive direction (only ILA and ILS)

  • 7: Movement to block in negative direction (only ILE)

  • 8: Movement to block in positive direction (only ILE)

  • 23: REF+, inverted, outside

  • 24: REF+, inverted, inside

  • 25: REF+, not inverted, inside

  • 26: REF+, not inverted, outside

  • 27: REF-, inverted, outside

  • 28: REF-, inverted, inside

  • 29: REF-, not inverted, inside

  • 30: REF-, not inverted, outside

  • 35: Position setting

Notes

This function block uses library-specific acceleration and deceleration values for Lexium ILA, ILE and ILS integrated drives (EtherNet/IP only). This means that pre-configured values for these parameters (for example, via the commissioning tool) are overwritten when this function block is executed.

The default acceleration and deceleration values written by this function block are as follows:

  • The default value for acceleration is 600 rpm/s.

  • The default value for deceleration is 750 rpm/s.

If you require other acceleration and/or deceleration values, you must use the vendor-specific function blocks to do so. Use the function block SetDriveRamp_ILX to define the acceleration and deceleration. The function block has to be executed only once if a change of the ramp values is required.

Additional Information

Operating Mode Homing