Homing Crank via Slide Axis

Overview

Homing is made via the slide axis for all homing modes except the following modes:

oMoveOnPosAbs

oWriteAxisEncoder

oRestorePosFromAxisEncoder

oRestorePosFromRetain

NOTE: Make sure, that the slide/linear axis position is used for calculating the parameter i_lrHomePosition (not the crank/rotative axis position in degree).

Parameters Referring to the Linear Slide Axis

Push rod facing right	Push rod facing left
stCrankModuleItf.stHome.stLimitSwitch.i_lrHomePosition := 100.0; (* Position at the end of homing in units *)	stCrankModuleItf.stHome.stLimitSwitch.i_lrHomePosition := -100.0; (* Position at the end of homing in units *)

Parameters Referring to the Rotative Crank Axis

stCrankModuleItf.stHome.stLimitSwitch.i_lrVel := 10.0; (* Homing ceiling velocity in units/s *)
stCrankModuleItf.stHome.stLimitSwitch.i_lrAcc := 1000.0; (* Homing acceleration in units/s2 *)
stCrankModuleItf.stHome.stLimitSwitch.i_lrDec := 1000.0; (* Homing deceleration in units/s2 *)
stCrankModuleItf.stHome.stLimitSwitch.i_lrOffset := 0.0; (* Offset from home signal in units *)
stCrankModuleItf.stHome.stLimitSwitch.i_lrMaxTravel := 9999.0; (* Max. travel for referencing normal input as a hardware limit *)
stCrankModuleItf.stHome.stLimitSwitch.i_lrJerk := 1000000.0; (* 0 = no smooth, 100 = max. smooth / Smooth in percent*)

Example for Setpos HomingMode

stCrankModuleItf.stHome.i_etMode := PDL.ET_HomeMode.SetPosAxisAndLogEncoderPosition; (* Homing Mode in case of real axis *)

Push rod facing right	Push rod facing left
Slide in home position, slide position = 100 (right)	Slide in home position, slide position = -100 (left)

Push rod facing right

Push rod facing left

Slide in home position, slide position = 100 (right)

Slide in home position, slide position = -100 (left)