BM_Home

Description

The Motion Control FC BM_Home references the drive axis using the method set at the drive. The setting of the method at the drive can be made via Prodrive and/or in the program using the BM_HomeInit, BM_HomeInitBlock Baumueller addition-FCs.

Note:
The indicated origin position must be within the travelling distance (software limit switch 1/2).

 

Parameter Input

Data Type

Description

Execute

BOOL

Edge-sensitive execution of homing

HomingMonitoring

Timer

Timer T for Homing time monitoring

 

Parameter Ouput

Data Type

Description

Done

BOOL

Homing is executed. The axis changes into the standstill state

Moving

BOOL

Homing started and target not reached.

Busy

BOOL

Parameter Read/Write active.

CommandAborted

BOOL

Abort by time monitoring, BM_Stop or Errorstop

Error

BOOL

Parameter Read/Write error; ErrorID is valid

ErrorID

DWORD

Communication ErrorID-Siemens error list

 

Parameter

Input and Output

Data Type

Description

Axis

UDT

BM Motion Control axis variable

 

Description

The command BM_Home references the drive by an absolute position from the Standstill state and changes into the Homing state. The indicated position must be within the travelling range (software limmit switch 1/ software limit switch 2). The FC BM_Home can be aborted by BM_Stop. The homing functionality can be monitored by an application monitoring time (Application Timeout) during the execution refer to FCs BM_HomeInit...). This monitoring especially is appropriate during long travelling distances with home switches (HomeSwitch). If the application monitoring time is zero then this functionality is deactivated.

Edge-sensitive execution:

In order to carry out the command the Execute input can be TRUE during one cycle. Then the command is processed. The result is Done = 1 after the successful notch position search, the output parameter Busy, the Command Aborted Error and the Error Id are reset, if the input Execute = 0 (see diagram 1)

Diagram for the edge-sensitive execution:

Diagram 1:

Diagram 2:

Status control via BM_ReadStatus
From status:    Standstill.
To status:   Homing.

Note:
The stopping on a defined position is not possible therefore after calling up BM_Stop the drive must be referenced with BM_Home again.

A command from "BM_Home" must not be activated before a command from another function block has been not successfully executed.

If an error occurs during the command execution, the error must be reset with "BM_Reset". Function block command will be executed successfully

at "BM" .AXIS [x] .DRIVE.BM_AXIS_STATUS.ParmRW_Active = 0.

 

Input Execute:

TRUE: Edge-sensitive execution of homing
FALSE: No execution or reset of the FC-outputs if Done is TRUE already.

Attention: Homing start at BM_ReadStatus parameter parameter Standstill = 1, only.

Input HomingMonitoring:

Timer T for homing time monitoring.

 

Output Done:

TRUE: Homing is executed. Drive changes from Homing status to standstill.
FALSE: Homing is active or not possible.

Output Moving:

TRUE: homing position not reached yet at Homing start.

FALSE: not activated.

Output Busy:

TRUE:  The service communication for the parameter Read/Write active or

FALSE: Not activated.

Output CommandAborted:

TRUE: Abort by BM_Stop; Errorstop or missing availability at BM_Power.
FALSE: Not active.

Output Error:

TRUE: There is an error at Service communication for the Read/Write parameter

For information on the valid ErrorID and Error information refer to S7 Description.

FALSE: No active error.

Output ErrorID:

The information of service communication error (for detailed information refer to S7 Description)

Notes:

Time monitoring abort: Error = 1 and ErrorID = 0

Output ErrorID:

The output of service communication errors (detailed information refer to S7 Description).

 

Input and output Axis

UDT type symbolic BM Motion Control axis variable.

During the programming with the template data module DB5 (symbolic "BM") the following symbol text must be used: "BM".AXIS[x] (x is the drive axis number).