Chapter 7 Program
(3) Axis error/Warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis servo-on status flag
: If the axis is in servo-on state, it is On, and servo-off state, it becomes Off.
(5) Axis operation status flag
: If the axis is in operation, it is On.
(6) 1/2 axis homing command
: In example programs, homing (MC_Home) motion function block is performed under the following conditions.
- Homing condition is On
- The axis is normally connected
- There should be no errors and warnings
- Servo-on state
- Not in operation
Conditions to perform motion function block may vary depending on systems.
(7) Homing command input variables
: These are input variables to perform homing (MC_Home) motion function block.
- Command-axis: It sets the axis in which motion function block is performed.
- Position value after homing: It sets the position value when homing is completed.
- Buffer mode: It sets the point of time when motion function block is executed. That is, it sets whether to execute
immediately or execute after the completion of commands which are currently being performed. For more details on
Function Block execution mode, refer to “6.1.4 Buffer Mode input”.
(8) Homing command output variable
: It is a variable to store output value generated when homing (MC_Home) motion function block is executed.
- Homing completed: If homing operation is completed, it is On.
- Function Block in execution: If motion function block is being performed, it is On, and homing completion is On, it is Off.
- Function Block axis control in operation: In case motion function block controls the axis, it is On.
- Error occurrence state: In case error occurs while motion function block is being executed, it is On.
- Error number: In case error occurs, the number that corresponds to error is generated.
- For more details on the output of motion function block, refer to “Edge operation motion function block” of “6.1.3 basic I/O
variable”.
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