MDI_DriveBasedHome (FB)

FUNCTION_BLOCK MDI_DriveBasedHome

This function block is used to put the axis into home mode and trigger homing based on the selected home type. The details of the datum sequence are dependent on the home type selected and the profiling is done dependent on the other relevant input settings. The PositionOffset input is used to set the axis position at the end of a successful datum sequence.

Note

1.This function block only supports e530 drive.

2.This function block can only be aborted by MDI_Stop.

InOut:

Scope	Name	Type	Initial	Comment
Input	Execute	BOOL	FALSE	Starts the datum sequence on a rising edge.
	HomingMode	INT	37	DS402 standard (1-37) and some ABB specific types (41-44) acceptable.
	HighSpeed	REAL	10.0	Unit is uu/s, mostly used in first cycle, range>0.
	LowSpeed	REAL	1.0	Unit is uu/s, mostly used in second backoff cycle, range>0.
	AccelDecel	REAL	100.0	AccelDecel rate in user units/sec^2, range>0.
	PositionOffset	DINT	0	Position set when homing is complete.
	TimeOut	DINT	5000	Unit is ms, process timeout from Execute.
	TorqueThreshold	REAL	10.0	% of Torque used to determine torque limit if homing mode = 41~44.
	TorqueThresholdTime	DINT	100	Unit is ms, used to determine torque limit reached if homing mode = 41~44.
Inout	Axis	MDI_AxisRef		Reference to axis.
Output	Done	BOOL		Indicates that the axis has homed successfully.
	Busy	BOOL		Sets to true while the homing sequence is in progress.
	CommandAborted	BOOL		Command is aborted by another command from other MDI function block.
	Error	BOOL		Signals that an error has occurred within function block.
	ErrorID	ERROR_ID		Contains the error code when there is an error.