TB_Home1
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_LimitSwitch module is executed. The referencing method "Referencing to device-side limit switch of travel distance" 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_LimitSwitch, MC_Home, MC_MoveAbsolut, 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.
Eingänge
| 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. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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. |
Ein-/Ausgänge
| 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. |
TB_Home1
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_LimitSwitch module is executed. The referencing method "Referencing to device-side limit switch of travel distance" 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_LimitSwitch, MC_Home, MC_MoveAbsolut, 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.
Eingänge
| 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. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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. |
Ein-/Ausgänge
| 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. |
TB_Home2
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.
Eingänge
| 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. |
Ausgänge
| 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. |
Ein-/Ausgänge
| 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. |
TB_Home2
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.
Eingänge
| 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. |
Ausgänge
| 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. |
Ein-/Ausgänge
| 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. |
TB_Home3
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to a device-side reference switch in the travel distance". Mode 3 of the Motion Control module MC_HomeInit_HomeSwitch is used (see Application Manual "Motion Control according to PLCopen").
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_HomeSwitch module is executed. The referencing method "Referencing to a device-side reference switch in the travel distance" Mode 3 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_HomeSwitch, MC_Home, MC_MoveAbsolut, 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.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home3
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to a device-side reference switch in the travel distance". Mode 3 of the Motion Control module MC_HomeInit_HomeSwitch is used (see Application Manual "Motion Control according to PLCopen").
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_HomeSwitch module is executed. The referencing method "Referencing to a device-side reference switch in the travel distance" Mode 3 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_HomeSwitch, MC_Home, MC_MoveAbsolut, 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.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home4
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to a device-side reference switch in the travel distance". Mode 4 of the Motion Control module MC_HomeInit_HomeSwitch is used (see Application Manual "Motion Control according to PLCopen").
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_HomeSwitch module is executed. The referencing method "Referencing to a device-side reference switch in the travel distance" Mode 4 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_HomeSwitch, 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.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home4
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to a device-side reference switch in the travel distance". Mode 4 of the Motion Control module MC_HomeInit_HomeSwitch is used (see Application Manual "Motion Control according to PLCopen").
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_HomeSwitch module is executed. The referencing method "Referencing to a device-side reference switch in the travel distance" Mode 4 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_HomeSwitch, 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.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home5
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to a device-side reference switch in the travel distance". Mode 5 of the Motion Control module MC_HomeInit_HomeSwitch is used (see Application Manual "Motion Control according to PLCopen").
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_HomeSwitch module is executed. The referencing method "Referencing to a device-side reference switch in the travel distance" Mode 5 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_HomeSwitch, 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.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home5
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to a device-side reference switch in the travel distance". Mode 5 of the Motion Control module MC_HomeInit_HomeSwitch is used (see Application Manual "Motion Control according to PLCopen").
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_HomeSwitch module is executed. The referencing method "Referencing to a device-side reference switch in the travel distance" Mode 5 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_HomeSwitch, 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.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home6
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to a device-side reference switch in the travel distance". Mode 6 of the Motion Control module MC_HomeInit_HomeSwitch is used (see Application Manual "Motion Control according to PLCopen").
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_HomeSwitch module is executed. The referencing method "Referencing to a device-side reference switch in the travel distance" Mode 6 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_HomeSwitch, 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.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home6
With this module, the connected Motion Control axis is referenced with reference mode "Referencing to a device-side reference switch in the travel distance". Mode 6 of the Motion Control module MC_HomeInit_HomeSwitch is used (see Application Manual "Motion Control according to PLCopen").
The parameters specified in user units are converted to the units required for Motion Control, and the MC_HomeInit_HomeSwitch module is executed. The referencing method "Referencing to a device-side reference switch in the travel distance" Mode 6 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_HomeSwitch, 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.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| x_ZeroPulse | BOOL | TRUE: The zero pulse for referencing is also taken into account. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home99
With this module, the connected Motion Control axis is referenced with the reference mode set in the controller.
The parameters specified in user units are converted to the units required for Motion Control. The referencing set in the controller 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_Home, MC_MoveAbsolut, MC_MoveRelative.
Note: The TB_Init module must be executed before this module is used.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| 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. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Home99
With this module, the connected Motion Control axis is referenced with the reference mode set in the controller.
The parameters specified in user units are converted to the units required for Motion Control. The referencing set in the controller 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_Home, MC_MoveAbsolut, MC_MoveRelative.
Note: The TB_Init module must be executed before this module is used.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| 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. |
| 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. |
Ausgänge
| 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 | _Axis | 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. |
Ein-/Ausgänge
| 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. |
TB_Init
Specification of the basic mechanical parameters of an axis for use in the axis module.
The parameters specified in user units are checked, converted to the units required for Motion Control and stored in the _StdPar structure. They are then available for other AX modules.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| i_T_Cycle | INT | Cycle time of setpoint event task in ms. 1, 2, 4 or 8 ms can be selected. |
| ud_Units | UDINT | Number of user units for the specified motor revolutions (u_Revolution). |
| u_Revolution | UINT | Number of motor revolutions for the specified user units (ud_Units). |
| ud_Periode | UDINT | With round axes: period of the axis in user units. Positions are then output between zero and ud_Periode. If the position exceeds ud_Periode, ud_Periode is deducted. If it undershoots zero, ud_Periode is added. If zero is specified, the period is inactive. |
| ud_StopDec | UDINT | Stop ramp in user units/s2. Note: Used in axis module of Motion Control module MC_Stop. |
| di_LimitPosMax | DINT | With linear axes: positive traversal range limit in user units. The position is calculated in increments and written to the structure variable _StdPar.di_LimitMaxINCS. It is thus available for standard Motion Control commands. |
| di_LimitPosMin | DINT | With linear axes: negative traversal range limit in user units. The position is calculated in increments and written to the structure variable _StdPar.di_LimitMinINCS. It is thus available for standard Motion Control commands. |
Ausgänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_OK | BOOL | TRUE: Parameter calculated and accepted in _StdPar |
| i_Result | INT | Message number of the module. See table below. |
Ein-/Ausgänge
| Marking: | Data type: | Description: |
|---|---|---|
| _StdPar | StdParType | Internal default parameters of the axis. |
TB_Init
Specification of the basic mechanical parameters of an axis for use in the axis module.
The parameters specified in user units are checked, converted to the units required for Motion Control and stored in the _StdPar structure. They are then available for other AX modules.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| i_T_Cycle | INT | Cycle time of setpoint event task in ms. 1, 2, 4 or 8 ms can be selected. |
| ud_Units | UDINT | Number of user units for the specified motor revolutions (u_Revolution). |
| u_Revolution | UINT | Number of motor revolutions for the specified user units (ud_Units). |
| ud_Periode | UDINT | With round axes: period of the axis in user units. Positions are then output between zero and ud_Periode. If the position exceeds ud_Periode, ud_Periode is deducted. If it undershoots zero, ud_Periode is added. If zero is specified, the period is inactive. |
| ud_StopDec | UDINT | Stop ramp in user units/s2. Note: Used in axis module of Motion Control module MC_Stop. |
| di_LimitPosMax | DINT | With linear axes: positive traversal range limit in user units. The position is calculated in increments and written to the structure variable _StdPar.di_LimitMaxINCS. It is thus available for standard Motion Control commands. |
| di_LimitPosMin | DINT | With linear axes: negative traversal range limit in user units. The position is calculated in increments and written to the structure variable _StdPar.di_LimitMinINCS. It is thus available for standard Motion Control commands. |
Ausgänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_OK | BOOL | TRUE: Parameter calculated and accepted in _StdPar |
| i_Result | INT | Message number of the module. See table below. |
Ein-/Ausgänge
| Marking: | Data type: | Description: |
|---|---|---|
| _StdPar | StdParType | Internal default parameters of the axis. |
TB_Manual_Init
Specification of the basic mechanical parameters of an axis for use in the axis module.
The parameters specified in user units are checked, converted to the units required for Motion Control and stored in the _StdPar structure. They are then available for other AX modules.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| ud_Velocity | UDINT | Velocity in user units/s. |
| ud_Acceleration | UDINT | Acceleration in user units/s². |
| ud_Deceleration | UDINT | Deceleration in user units/s². |
| ud_Jerk | UDINT | Jerk in user units/s³. |
Ausgänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_OK | BOOL | TRUE: Parameter calculated and accepted in _StdPar |
| i_Result | INT | Message number of the module. See table below. |
Ein-/Ausgänge
| Marking: | Data type: | Description: |
|---|---|---|
| _StdPar | StdParType | Internal default parameters of the axis. |
TB_Manual_Init
Specification of the basic mechanical parameters of an axis for use in the axis module.
The parameters specified in user units are checked, converted to the units required for Motion Control and stored in the _StdPar structure. They are then available for other AX modules.
Eingänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_Enable | BOOL | TRUE: Enabling of the module. |
| ud_Velocity | UDINT | Velocity in user units/s. |
| ud_Acceleration | UDINT | Acceleration in user units/s². |
| ud_Deceleration | UDINT | Deceleration in user units/s². |
| ud_Jerk | UDINT | Jerk in user units/s³. |
Ausgänge
| Marking: | Data type: | Description: |
|---|---|---|
| x_OK | BOOL | TRUE: Parameter calculated and accepted in _StdPar |
| i_Result | INT | Message number of the module. See table below. |
Ein-/Ausgänge
| Marking: | Data type: | Description: |
|---|---|---|
| _StdPar | StdParType | Internal default parameters of the axis. |
