FC_InitHomeWritePos - 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 specifies that an axis, when already homed, will be homed by writing values to the axis’s motor encoder. This method is used to provide a “service reference” to synchronize the position of the encoder to its associated mechanism and is typically used after the motor is connected to the equipment.
This function sets etMode to PDL.ET_HomeMode.WriteAxisEncoder
The distance between the negative end position and the position to which the encoder was written is transferred to the function via the i_lrAbsEncOffset input as shown below. The following figure explains it.
oEncoder Position = Encoder Value * Feed Constant * Gear In / Gear Out
oEncoder Value is in turns between ( 0 - 1 or 0 - 4096)
oEncoder Period = (1 or 4096) * Feed Constant * Gear In / Gear Out
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Input |
Data type |
Description |
|---|---|---|
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i_lrPosition |
LREAL |
The axis’s position is set to this value in units. |
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i_lrUserPeriod |
LREAL |
Axis's period in units. |
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i_lrAbsEncOffset |
LREAL |
Distance between negative travel limit and position written into the encoder. |
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Input/Output |
Data type |
Description |
|---|---|---|
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iq_stAxisModuleItf |
ST_ModuleInterface |
The axis interface structure of the associated axis |
