SetPosition (set home position)

This state provides for setting the home position.

In contrast to the " Homing " operating mode, the "SetPosition" operating mode also enables the home position to be set when the axes group is deactivated.

Tip!

This function can be helpful when the actual positions read out of the drives prevent the axes group from being activated at switch-on.

Inputs for this operating mode

Name

Data type

Information/possible settings

xGroupSetPosExecute

BOOL

TRUE

Set position of the axes to the positions stored in the alrHomePosition array or shift them by the stored distances (dependent on xGroupSetPosRelative ).

scPar.xGroupSetPosRelative

BOOL

Set positions of the axes relatively to xGroupSetPosExecute

FALSE

When xGroupSetPosExecute = TRUE, the positions of the axes are set absolutely to the positions stored in the alrHomePosition array.

TRUE

When xGroupSetPosExecute = TRUE, the positions of the axes are shifted relatively by the distances stored in the alrHomePosition array.

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
Outputs for this operating mode

Name

Data type

Value/meaning

xAxesGroupHomed

BOOL

TRUE

All axes have been referenced.