FC_InitHomeLimitSwitch - General Information
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Type: |
Function |
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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 seeking an input that is also used as an over travel input. The i_etHomingMode input specifies the homing direction:
|
i_etMode |
Home Action |
|---|---|
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PDL.ET_HomeMode.PosDirectionPosEdgeHWLimitPos |
Move in the positive direction to the rising edge of the input |
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PDL.ET_HomeMode.NegDirectionPosEdgeHWLimitNeg |
Move in the negative direction to the rising edge of the input |
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PDL.ET_HomeMode.NegDirectionNegEdgeHWLimitNeg |
Move in the negative direction to the falling edge of the input |
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PDL.ET_HomeMode.PosDirectionNegEdgeHWLimitPos |
Move in the positive direction to the falling edge of the input |
All the possible values of i_etMode are enumerated in PDL.ET_HomeMode; however, the function returns FALSE if none of the above four values is used.
|
Input |
Data type |
Description |
|---|---|---|
|
i_etMode |
PDL.ET_HomeMode |
Specifies the specific type of homing to perform |
|
i_lrPosition |
LREAL |
Specifies the axis’s position after the homing process is complete in units |
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i_lrVelocity |
LREAL |
Specifies the homing velocity unless reduced velocity is enabled in units/sec |
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i_lrLowVelocity |
LREAL |
Specifies the velocity in units/sec that is used for the backward movement |
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i_lrAcceleration |
LREAL |
Specifies the homing acceleration in units/sec^2 |
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i_lrDeceleration |
LREAL |
Specifies the homing deceleration in units/sec^2 |
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i_lrOffset |
LREAL |
Specifies the distance in units the axis will travel after sensing the touch probe input. The position of the axis after this move is set to the value of i_lrPosition |
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i_lrMaxTravel |
LREAL |
Specifies the maximum distance in units the axis will move when searching for the input. An error is generated if the axis can’t find the input. The direction is determined by the specific homing mode |
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i_lrJerk |
LREAL |
Specifies the jerk for homing in units/sec^3 |
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Input/Output |
Data type |
Description |
|---|---|---|
|
iq_stAxisModuleItf |
ST_ModuleInterface |
The axis interface structure of the associated axis |
