SMAC VLC-2-EIP - Homing

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3.4.6 Homing
This AOI performs actuator homing. See section 3.1.1.1 for more information about the homing
parameters.
See section 3.3.5 for descriptions of VLC_EIP_INPUT, VLC_EIP_OUTPUT, Axis, Enable as well as
Busy, Successful and Failed indications. The other AOI inputs are explicit message containers for
the homing parameters explained in section 3.1.1.1. The Message instruction configuration
parameters are summarized in the following table.
Parameter
MSG configuration (all parameter instance ID: 1)
Service
type
Class
(Hex)
Attribute
(Hex)
Source element
Source
length
Axis 1
Homing_method_
MSG
Set
Attribute
Single
69
5
Homing_method (INT)
2 bytes
Homing_speed_MSG
69
1
Homing_speed (DINT)
4 bytes
Homing_acceleration
_MSG
69
2
Homing_acceleration
(DINT)
4 bytes
Homing_offset_MSG
69
3
Homing_offset (DINT)
4 bytes
Pos_err_thres_MSG
69
4
Homing_poserr (DINT)
4 bytes
Homing_timeout_
MSG
69
6
Homing_timeout (INT)
2 bytes
Axis 2
Homing_method_
MSG
Set
Attribute
Single
69
B
Homing_method (INT)
2 bytes
Homing_speed_MSG
69
7
Homing_speed (DINT)
4 bytes
Homing_acceleration
_MSG
69
8
Homing_acceleration
(DINT)
4 bytes
Homing_offset_MSG
69
9
Homing_offset (DINT)
4 bytes
Pos_err_thres_MSG
69
A
Homing_poserr (DINT)
4 bytes
Homing_timeout_
MSG
69
C
Homing_timeout (INT)
2 bytes