BM_HomeInitBlock
Description
The Motion Control commando BM_HomeInitBlock is an extension of the Motion Control standard and initializes the homing method "Homing in the travelling distance" for the Motion Control command BM_Home.
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Parameter Input |
Data Type |
Description |
|
Execute |
BOOL |
Edge-sensitive execution |
|
Method |
INT |
Homing method |
|
Position |
REAL |
Home position |
|
Velocity |
REAL |
Absolute value of target speed of homing |
|
EndVelocity |
REAL |
Absolute value of final target speed of homing, [Inc/ms] |
|
Acc |
REAL |
Acceleration absolute value of homing, [Inc/ms²] |
|
Dec |
REAL |
Deceleration absolute value of homing; [Inc/ms²] |
|
Jerk |
REAL |
Jerk absolute value; [Inc/ms³] |
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TorqueLimit |
REAL |
Torque limit of homing,[%] |
|
BlockingTime |
REAL |
Blocking time to recognize the limit time,[s] |
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Offset |
REAL |
Offset starting from the method and limit switch attachment,[Inc] |
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TimeoutHoming |
S5Time |
Monitoring time of execution. |
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Parameter Output |
Data Type |
Description |
|
Initialised |
BOOL |
Homing method successfully installed |
|
Busy |
BOOL |
Parameter Read/Write active |
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Error |
BOOL |
Parameter Read/Write error; ErrorID is valid |
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ErrorID |
DWORD |
Communication ErrorID Siemens error list |
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Parameter Input and Output |
Data Type |
Description |
|
Axis |
UDT |
BM Motion Control axis variable |
Description
The homing mode "Homing to the mechanical limit" is set at the drive. Then homing can be started by the BM_Home command and the drive can be referred to by a mechanical limit.
Depending on the homing type, the method and the velocity of the drive is moved to the mechanical limit. The mechanical limit is recognized if the drive is at zero speed and at the current limit for the period of the blocking time. If the limit was recognized then at this position the home position is set and the torque limit on TorqueLimit is canceled.
In the Standstill, DiscreteMotion, ContinuousMotion, SynchronizedMotion statuses in the user program the setting of the homing of the drive can be changed during the operating time.
Edge-sensitive execution:
In order to carry out the command the input Execute can be TRUE for one cycle (see diagram 1). Then the command is carried out, the result Initialized is signaled for one cycle, only, if input Execute =1. Then the command is executed; the result Initialized = 1. Initialized is reset if the input Execute = 0 (see diagram 2).
Diagram for edge-sensitive execution:
Diagram 1:
Diagram 2:
Status control from BM_ReadStatus
From status: Standstill, DiscreteMotion, ContinuousMotion, SynchronizedMotion.
Recommended task: OB1.
Note:
The FC "BM_HomeInitBlock" overwrites drive parameterizations that were set via the service communication sources, such as ProDrive. Required digital I/Os: positive and negative switch is parameterized and linked in Prodrive. If the method is set to 0 for homing then the homing method of the unit sided “homing method” (35 or -39 is set at the Drive.
A command from "BM_HomeInitBlock” 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.
Homing method: Setting for the homing to the mechanical limit
Method = -10 (approaching the mechanical limit with zero pulse, counterclockwise rotation)
Method = -8 (approaching the mechanical limit without zero pulse, counterclockwise rotation)
Method = -9 (approaching the mechanical limit with zero pulse, clockwise rotation)
Method = -7 (approaching the mechanical limit with zero pulse, clockwise rotation)
Input Execute:
TRUE
= Edge-sensitive execution, the input parameters are accepted.
FALSE = No execution or reset of the FC outputs if Initialized is TRUE at the
time of Execute = FALSE.
Input Method:
Homing method of the drive
Input Position:
Home position, specification in increments
Input Velocity:
Specification in increments per milliseconds. This is the maximum target speed of the movement of the drive.
Input EndVelocity:
Specification in increments per milliseconds. This is the maximum final target speed of the drive movement.
Input Acc:
Positive acceleration in increments per milliseconds.
Minimum: 0.07 [Inc/ms²], maximum: 655.35 [Inc/ms²]
Default: 2.00 [Inc/ms²]
Input Dec:
Negative acceleration in increments per milliseconds.
Minimum: 0.07 [Inc/ms²], maximum: 655.35 [Inc/ms²]
Default: 2.00 [Inc/ms²]
Input Jerk:
Acceleration jerk. In increments per milliseconds³.
Minimum: 0.07 [Inc/ms³], maximum: 655.35 [Inc/ms³]
Default: 0.25 [Inc/ms³]
Input TorqueLimit:
Value of the limited torque for a limited homing. Specification in %/100 of the maximum torque.
Input BlockingTime:
The period to recognize the limit at the speed = zero and the drive at the current limit. Specification in seconds.
This value must be lower than other possible parameterized block monitoring at the drive.
Input TimeoutHoming:
Specification of the monitoring time with S5Time.
0: Activation of the monitoring when calling up BM_Home is not active. <
>0: Monitoring complying with the specification is active in homing.
Output Initialised:
TRUE:
Homing method was successfully installed.
FALSE: Command is active or not possible.
Output Busy:
TRUE: The service communication for parameter
Read/Write is active.
FALSE: Not active.
Output Error:
TRUE: There is an error at the service communication for the parameter Read/Write. Info at the ErrorID and Error Info is valid. See S7 Description.
FALSE: No error active.
Output ErrorID:
The information of the service communication error (for detailed information refer to S7 Description)
Input and output Axis:
UDT type symbolic BM Motion Control axis variable.
When programming with the template data module DB5 (symbolic "BM") the following symbol text must be written: "BM".AXIS[x] (x is the number of drive axis).