MCA_DriveBasedHome (FB)

FUNCTION_BLOCK MCA_DriveBasedHome

This function block can be used to execute a homing procedure directly in the drive.

Precondition

It requires the drive supports 402-profile specific homing sequences.

The function block can be used in combination with:

• ECAT_402ParameterHoming_APP to send parameters

• ECAT_CiA402_Control_App to control the drive statemachine and to set it to the appropriate operating mode

Note

Homing is based on the settings in drive and drive has to execute the homing algorithm.

Note

This function block has to be called within the REAL-TIME task, same task as CMC_Basic_Kernel/CMC_Basic_Kernel64, such as MotionSolution_Task built by MotionWizard.

InOut:

Scope	Name	Type	Comment
Input	Execute	BOOL	Starts the function block at rising edge
	Position	LREAL	[u] Reference position, used as position value at reference position
	TimeLimit	LREAL	[s] A time in seconds, which will be used as an upper limit for the time available to do the homing. If the time is exceeded, the function block will show an Error. With TimeLimit = 0, the limit is ignored
	BufferMode	MC_BufferMode	Not supported, default mcABORTING used
Output	Done	BOOL	Shows the status of the function block. Done = TRUE if the execution is finished
	Busy	BOOL	The function block is not finished
	Active	BOOL	Indicates that the function block has control on the axis
	CommandAborted	BOOL	Command is aborted by another command from other PLCopen function block
	Error	BOOL	Signals that error has occurred within function block
	ErrorID	ERROR_ID	Error identification. For error details refer to Enumeration ERROR_ID
Inout	Axis	Axis_Ref	Reference to axis

Structure:

• MCA_DriveBasedHome.Aktion_ErrorStop (ACT)