FC_InitHomeTorque - General Information
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Type: |
Function |
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Available as of: |
V1.1.0.0 |
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Support for: |
PacDrive3 pilot template architecture |
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Versions: |
Current version |
Function for initialization of an axis that is controlled by the FB_AxisModule function block.
This function is used to specify that an axis, when homed, will be homed by seeking i_lrMaxTorque value from the axis’s motor. The i_etMode input specifies the homing direction:
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i_etMode |
Home Action |
|---|---|
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PDL.ET_HomeMode.PosDirectionMaxTorque |
Move in the positive direction until the i_lrMaxTorque is reached |
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PDL.ET_HomeMode.NegDirectionMaxTorque |
Move in the negative direction until i_lrMaxTorpque is reached |
All the possible values of i_etHomingMode are enumerated in PDL.ET_HomeMode; however, the function returns FALSE if none of the above values is used.
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Input |
Data type |
Description |
|---|---|---|
|
i_etMode |
PDL.ET_HomeMode |
Specifies the specific type of homing to perform |
|
i_lrPosition |
LREAL |
Specifies the axis’s position after the homing process is complete in units |
|
i_lrVelocity |
LREAL |
Specifies the homing velocity unless reduced velocity is enabled in units/sec |
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i_lrAcceleration |
LREAL |
Specifies the homing acceleration in units/sec^2 |
|
i_lrDeceleration |
LREAL |
Specifies the homing deceleration in units/sec^2, |
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i_lrOffset |
LREAL |
Specifies the distance in units the axis will travel in the reverse direction after reaching the desired torque setting. The axis’s position is set to the value of i_lrPosition after this move |
|
i_lrMaxTravel |
LREAL |
The maximum distance in units the axis will move when search for the desired torque, i_lrMaxTorque. An error is generated if the axis can’t find the torque. The direction is determined by the specific homing mode |
|
i_lrMaxTorque |
LREAL |
Specifies the torque value in Nm to achieve before reversing direction |
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i_lrJerk |
LREAL |
Specifies the jerk for homing deceleration in units/sec^3 |
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i_diTorqueTime |
DINT |
Specifies the amount of time in ms to hold at torque before reversing direction |
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Input/Output |
Data type |
Description |
|---|---|---|
|
iq_stAxisModuleItf |
ST_ModuleInterface |
The axis interface structure of the associated axis |
