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

See Home modes.