MC_SEW_ConfigHoming

This function block configures the reference travel of the axis. The configuration can also be carried out via the configuration menu Reference travel of the logical device. With drive-based reference travel (eReferenceMode is DriveBased), the inverter parameters (volatile) are written to the drive by this function block.

VAR_IN_OUT

Variable name	Data type	Description
Axis	AXIS_REF	Reference to a logical device (name of the logical device) See also AXIS_REF.

Variable name

Data type

Description

Axis

AXIS_REF

Reference to a logical device
(name of the logical device)

VAR_INPUT

Variable name	Data type	Description
Execute	BOOL	Start execution of the function block.
eReferenceMode	E_ReferenceMode	Select controller or inverter-based reference travel.
eReferenceType	E_ReferenceType	Select reference travel type.
xReference- ToZeroPulse	BOOL	Specify whether the zero pulse (reference pulse of the encoder) is used as the reference point. The parameter is used for the following reference travel types: Reference cam – negative end Reference cam – positive side Positive limit switch Negative limit switch Reference cam flush – positive limit switch Reference cam flush – negative limit switch
lrReferenceOffset	LREAL	Reference offset in [user units]
lrSearchVelocity	LREAL	Speed in [user unit/s] used to search for reference cams or hardware limit switches.
lrRetractionVelocity	LREAL	Speed in [user unit/s] used during the reference travel. This specification applies in the following cases: When leaving a reference cam or hardware limit switch. With the reduced speed, the drive can run exactly to the end of the reference cam or limit switch. When searching for a zero pulse (reference pulse of the encoder). During the reference travel to a fixed stop
lrAcceleration	LREAL	Acceleration at start or direction of rotation reversal of reference travel
lrDeceleration	LREAL	Deceleration for stopping or a direction of rotation reversal during the reference travel
xGoToHomePosition	BOOL	Position approached after referencing: FALSE: The drive stops at the reference point. TRUE: The drive moves from the reference point with lrHomeVelocity to the lrHomePosition.
lrHomePosition	LREAL	Home position
lrHomeVelocity	LREAL	Homing speed
eVelocityChangeoverBeforeFixedStop	E_ReferenceVelocityChangeover	Time at which the search speed changes to the retraction speed.
uiDwellTimeAtFixedStop	UINT	Duration in [ms] of how long the drive remains at the fixed stop once the value defined in the "Torque limit at fixed stop" parameter is reached. The drive is only referenced afterwards.
lrTorqueLimitAtFixedStop	UINT	Torque limit in [% nominal motor torque] for referencing to a fixed stop. Once this limit value has been reached, the fixed stop remains active as long as this is defined in the uiDwellTimeAtFixedStop parameter.
lrJerk	LREAL	Jerk to be used during homing.
lrInPositionWindowWidth	LREAL	Position window for homing
lrInPositionHysteresis	LREAL	Hysteresis window for homing

VAR_OUTPUT

Variable name	Data type	Description
Done	BOOL	Function block successfully completed
Busy	BOOL	Function block is active
Error	BOOL	An error has occurred in the function block
ErrorID	WORD	Error number