13.7.3.4 FB 801 - MC_Home - home axis
An overview of the drive systems, which can be controlled with this block
can be found here:
Ä
Chap. 13.7.1 ‘Overview’ page 542
With MC_Home an axis can be set to a reference point. This is used to match the axis
coordinates to the real, physical drive position. The homing method and its parameters
must be configured directly at the drive. For this use the VMC_HomeInit_... blocks.
Parameter
Parameter Declaration Data type Description
Axis IN_OUT MC_AXIS_REF Reference to the axis
Execute INPUT BOOL
n Homing
– Edge 0-1: Homing is started
Position INPUT REAL With a successful homing the current position of the axis is
uniquely set to Position.
Position is to be entered in the used application unit.
BufferMode INPUT BYTE Parameter is currently not supported; call with B#16#0
Done OUTPUT BOOL
n Status
– TRUE: Job successfully done.
Busy OUTPUT BOOL
n Status
– TRUE: Job is running.
CommandA-
borted
OUTPUT BOOL
n Status
– TRUE: The job was aborted during processing by
another job.
Error OUTPUT BOOL
n Status
– TRUE: An error has occurred. Additional error infor-
mation can be found in the parameter ErrorID.
ErrorID OUTPUT WORD Additional error information
Ä
Chap. 13.10 ‘ErrorID - Additional error information’
page 637
Start of the job only in the PLCopen-State Standstill possible.
The homing is started with edge 0-1 at Execute. Busy is TRUE as soon as the homing is
running. Once Done becomes TRUE, homing was successfully completed. The current
position of the axis was set to the value of Position.
– An active job continues to run even when Execute is set to FALSE.
– A running job can not be aborted by a move job (e.g. MC_MoveRela-
tive).
Description
PLCopen-State
Home axis
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 551
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