General Information
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to the encoder zero pulse/angle".With this module, the connected Motion Control axis is referenced with reference mode "Referencing to device-side limit switch of travel distance".
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_ZeroPulse module is executed. The referencing method "Referencing to encoder zero pulse/angle" is set at the drive here. Referencing and the subsequent positioning to the specified home position then occur.
If the axis was already referenced, immediate positioning to the home position can be carried out (when x_RefFull = FALSE) instead of the full referencing.
Motion Control commands used: MC_HomeInit_ZeroPulse, MC_Home, MC_MoveRelative.
Details of the reference mode are contained in the application manual "Motion Control according to PLCopen".
Note:
The TB_Init module must be executed before this module is used.
| Recommended Task: | Cyclic |
| Libraries used: | MOTION_CONTROL_xxbd00 or higher ARITHMETIC_xxbd00 or higher TECH_TYPES_xxbd05 or higher |
InOut Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| di_Pos | DINT | Actual mechanical position of the axis in user units. |
| _StdPar | StdParType | Internal default parameters of the axis. |
| _Axis | AXIS_REF | Motion Control axis. |
Input Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| i_Direction | INT | Search direction of the limit switch. FALSE = negative direction, TRUE = positive direction. |
| ud_Velocity | UDINT | Velocity for positioning to home position in user units/s. Note: The zero pulse search always occurs at the reference velocity configured in the drive. |
| ud_Velocity | UDINT | Velocity for positioning to home position in user units/s. Note: The zero pulse search always occurs at the reference velocity configured in the drive. |
| ud_Acceleration | UDINT | Acceleration for positioning to home position in user units/s2. Note: The zero pulse search always occurs at the reference acceleration configured in the drive. |
| ud_Deceleration | UDINT | Deceleration for positioning to home position in user units/s2. Note: The zero pulse search always occurs at the reference deceleration configured in the drive. |
| ui_TimeOut | UINT | Time monitoring of referencing in ms. |
| di_RefPos | DINT | Reference position of the axis in user units. This is the mechanical position at the zero pulse of the encoder. Once referencing is carried out, this position is set as the reference position. |
| di_HomePos | DINT | Mechanical home position (home setting) of the axis in user units. Once referencing is carried out, the axis is located at this mechanical position. |
| x_RefFull | BOOL | TRUE: The entire referencing procedure (zero pulse search and subsequent positioning to di_HomePos) is always carried out. FALSE: If the axis is already referenced, only positioning to di_HomePos occurs. |
Output Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_Active | BOOL | TRUE: Module is enabled (x_Enable = TRUE) and active. |
| x_Running | BOOL | TRUE: Homing in progress. |
| x_HomeDone | BOOL | TRUE: Referencing completed successfully. |
| x_HomeOK | BOOL | TRUE: Drive is referenced. |
| x_Error | BOOL | TRUE: The module has identified an error. See table i_Result. |
| i_Result | INT | Message number of the module. See table below. |
| i_Results | Description: |
|---|---|
| >0 | Reported error of the Motion Control modules used. See Motion Control error list. |
| 0 | No errors active. |
| -100 | Default parameters invalid. General parameters must be set with the TB_Init module before the module is used. |
| -101 | Position outside the period. A home position was specified, which was outside the period specified at the TB_Init module. |
| -102 | Search direction invalid. Search direction may only be zero or one. |
| -111 | Reference velocity is zero! |
| -112 | Reference acceleration is zero! |
| -113 | Reference deceleration is zero! |
| -999 | No technology license. Use PLC with technology license. |