The values of the input parameters are accepted with an edge 0-1 at Execute and the
initialisation of the homing method is started. As long as the initialisation is active, the
output Busy is set to TRUE. If the initialisation has been completed successfully, the
output Done is set to TRUE. If an error occurs during initialisation, the output Error is set
to TRUE and an error number is output at the output ErrorID.
1. Verify communication to the axis.
2. Check for permitted PLCopen states.
3. Check the input values:
n Input VelocitySearchSwitch [UserUnits] > 0.0
n VelocitySearchSwitch [InternalUnits] > 0
n VelocitySearchSwitch [InternalUnits] £ VelocityMax
n Input VelocitySearchZero [UserUnits] > 0.0
n VelocitySearchZero [InternalUnits] > 0
n VelocitySearchZero [InternalUnits] £ VelocityMax
n Input Acceleration [UserUnits] > 0.0
n Acceleration [InternalUnits] > 0
n Acceleration [InternalUnits] £ AccelerationMax
4. Transfer of the drive parameters:
n "Homing Method" in dependence of input "Direction"
See table below!
n "Homing Speed during search for switch" [Inc/s]
n "Homing Speed during search for zero" [Inc/s]
n "Homing Acceleration" [Inc/s
2
]
Homing Method Direction
1 false
2 true
Initialisation homing on
limit switch
Initialisation of the homing
method
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Complex motion tasks - PLCopen blocks
HB00 | OPL_SP7 | Operation list | en | 18-30 605
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