Homing (referencing)

This state makes it possible to set or automatically search for the home position.

  • In the "Homing" status, the following actions are carried out:
    • Creation of the motion profiles for the "Homing" function (reference search).
    • Evaluation of the traversing range limit switches and of the homing and touch probe switches during the reference search.
Note!

Please observe the notes in the FB MC_GroupHome .

Inputs for this operating mode

Name

Data type

Information/possible settings

xGroupHomeExecute

BOOL

FALSE รค TRUE

Assign all axes of the axes group with homing.

MC_GroupHome

scPar.alrHomePosition

ARRAY [1..12] OF LREAL

Home positions for homing by means of xGroupHomeExecute or positions/distances for setting the position by means of xGroupSetPosExecute .

Axis assignment:

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

scPar.aeHomingOrder

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:

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

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

axHomeAbsSwitch

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.

scPar.

xUseHomeExtParameter

BOOL

Selection of the parameters to be used for homing

Note:This selection applies only to the homing parameters of AxisRef, or the FB input scPar.ascHomeExtParameter The reference position must always be specified via the input scPar.alrHomePosition.

FALSE

Parameters of the axis data ( AXIS_REF )

TRUE

Parameters from the application transmitted via ascHomeExtParameter input.

ascHomeExtTP

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

scPar.ascHomeExtParameter

BOOL

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
Outputs for this operating mode

Name

Data type

Value/meaning

xAxesGroupHomed

BOOL

TRUE

All drive axes of the axes group are referenced.