MC_GroupHome

This FB serves to reference an axes group in the axis coordinate system. The single real axes are referenced. Using the input parameters, the sequence and parameterisation of the single axis homing can be set.

  • The way homing is executed can be defined individually for each axis.
  • The Position input serves to specify the absolute position (home position) to which the measuring system is set when the sensor reference signal (e.g. touch probe sensor) is detected.
  • Homing of the axes group can only be started in the "GroupStandby" axes group state. While homing is executed, the " GroupHoming " axes group state is active. After being completed, it is automatically changed back to the " GroupStandby " axes group state.

Detailed information on homing can be found in the description of the FB MC_Home .

Note!

The FB MC_GroupHome may only be called from the "GroupStandby" state due to the PLCopen state machine.

For referencing at switched-off axes group, use the FBs MC_GroupSetPosition or MC_Home .

 

 

 

MC_GroupHome

 

 

 

AXES_GROUP_KIN

-

AxesGroup

Done

-

BOOL

BOOL

-

Execute

Busy

-

BOOL

ARRAY [1..12] OF LREAL

-

Position

Active

-

BOOL

ARRAY [1..12] OF L_MC4P_HomingOrder

-

HomingOrder

CommandAborted

-

BOOL

ARRAY [1..12] OF BOOL

-

HomeAbsSwitch

Error

-

BOOL

ARRAY [1..12] OF BOOL

-

UseExtParameter

ErrorID

-

L_IE1P_Error

ARRAY [1..12] OF L_MC1P_HomeParameter

-

ExtParameter

AxisDone

-

ARRAY [1..12] OF BOOL

ARRAY [1..12] OF MC_TRIGGER_REF

-

ExtTP

 

 

 

 

 

 

 

 
Inputs

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_KIN

axes group reference

Execute

BOOL

FALSE รค TRUE

Assign all axes of the axes group with homing.

Position

ARRAY [1..12] OF LREAL

Home positions for homing

Axis assignment:

  • Index 1 ... 6: Drive axes A1 ... A6
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

HomingOrder

ARRAY [1..12] OF L_MC4P_HomingOrder

Definition of the sequence in which the axes are to be referenced:

  • NoHoming
  • First, Second, Third, Fourth, Fifth, Sixth, Seventh, Eighth, Ninth, Tenth, Eleventh, Twelfth

Axis assignment:

  • Index 1 ... 6: Drive axes A1 ... A6
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

Example:

HomingOrder[1] := First,
HomingOrder[2] := First,
HomingOrder[3] := Second,
HomingOrder[4] := First,
HomingOrder[5] := Third,
HomingOrder[6...12] := NoHoming

Axes A1, A2 and A4 are referenced at the same time, then axis A3 and the last axis is A5.

HomeAbsSwitch

ARRAY [1..12] OF BOOL

Input for transmitting the homing switch status

Axis assignment:

  • Index 1 ... 6: Drive axes A1 ... A6
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

TRUE

Reference switch is activated.

UseExtParameter

ARRAY [1..12] OF BOOL

Selection of the parameters to be used for homing

Axis assignment:

  • Index 1 ... 6: Drive axes A1 ... A6
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

FALSE

Parameters of the axis data ( AXIS_REF )

TRUE

Parameters from the application transmitted via ExtParameter input.

ExtParameter

ARRAY [1..12] OF L_MC1P_HomeParameter

Input for transmitting the parameters for referencing from the application

Axis assignment:

  • Index 1 ... 6: Drive axes A1 ... A6
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6

ExtTP

ARRAY [1..12] OF MC_TRIGGER_REF

Input for transmitting an external touch probe event

Axis assignment:

  • Index 1 ... 6: Drive axes A1 ... A6
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6
Outputs

Name

Data type

Value/meaning

Done

BOOL

TRUE

Processing successfully completed.

Busy

BOOL

TRUE

Processing is running.

Active

BOOL

TRUE

The command of the FB is currently executed.

  • The Active output matters if a motion control is carried out by several FBs (BufferMode).

CommandAborted

BOOL

TRUE

The command was aborted by another FB.

Error

BOOL

TRUE

An error has occurred. For details see ErrorID .

ErrorID

L_IE1P_Error

If Error = TRUE: Error number for the error that has occurred.

AxisDone

ARRAY [1..12] OF BOOL

TRUE

The respective single axis has completed homing.

Axis assignment:

  • Index 1 ... 6: Drive axes A1 ... A6
  • Index 7 ... 12: Auxiliary axes Aux1 ... Aux6
Example: Homing of a four-axis SCARA kinematics

Task:

  • The axes A1 and A2 are to be referenced simultaneously when the FB is instructed. After these two homing movements, axis A4 is referenced. The axis A3 is not referenced at this call.
  • The reference switches are read in via an EPM-S202 of the IO system 1000 and written into the xDI_<x>_int variables.
  • The settings for the respective homing are read out of the parameters of the axis data. Functions and parameterisation Homing

Sample implementation:

Detailed information on homing can be found in the description of the FB MC_Home .