MC_Home

MC_Home - General Information

Overview

Type:	Function Block
Available as of:	1.0.5.0
Versions:	current version

Task

The axis is to be homed.

Description

The function block calls up PDL.FB_HomeTp for controlling the "Homing".

Interface

Input	Data type	Description
Axis	SystemConfigurationItf.IF_Drive	The axis that is to be homed.
Execute	BOOL	Starts the motion in the case of a rising edge
Position	LREAL	Absolute position if the reference signal has been detected
i_etMode	PDL.ET_HomeTpMode	Possible values: o1 PosDirectionPosEdgeTp o2 NegDirectionPosEdgeTp o3 NegDirectionNegEdgeTp o4 PosDirectionNegEdgeTp
i_lrOffset	LREAL	Offset between sensor signal and reference point
i_lrMaxTravel	LREAL	Maximum distance for homing
i_lrVel	LREAL	Maximum velocity of the motion
i_lrAcc	LREAL	Acceleration of the motion
i_lrDec	LREAL	Deceleration of the motion
i_lrJerk	LREAL	Jerk of the motion
i_ifTouchProbe	SystemConfigurationItf.IF_TouchProbe	Touchprobe sensor for homing
i_xHwLimitNeg	BOOL	TRUE: negative limit switch has been triggered
i_xHwLimitPos	BOOL	TRUE: positive limit switch has been triggered

Output	Data type	Description
Done	BOOL	Reference detected and successfully set.
Busy	BOOL	Homing is being executed.
CommandAborted	BOOL	The motion has been cancelled.
Error	BOOL	Signalizes a detected error within the function block
ErrorId	DWORD	Error identification
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Busy	1	The order is executed.
OK	CommandAborted	9	The action was canceled.
OK	Done	8	The order is completed.
OK	Ok	0	Ok
DriveConditionInvalid	DriveNotReady	70	The drive is not ready for motion commands.
ExecutionAborted	PLCopenTransition	49	PLCopen transition is not permitted.
HomingFailed	HwLimitNegStillActive	56	HwLimitNeg is still active.
HomingFailed	HwLimitPosStillActive	57	HwLimitPos is still active.
HomingFailed	TouchProbeNotFound	58	No Touchprobe was found.
InputParameterInvalid	AccRange	60	Acc is outside the valid range.
InputParameterInvalid	AxisInvalid	25	The connected drive is not supported.
InputParameterInvalid	DecRange	61	Dec is outside the valid range.
InputParameterInvalid	DriveInvalid	26	The connected drive is invalid.
InputParameterInvalid	DriveNotInitialised	27	The connected drive is not initialized.
InputParameterInvalid	JerkRange	62	Jerk is outside the valid range.
InputParameterInvalid	MaxTravelRange	63	MaxTravel is outside the valid range.
InputParameterInvalid	TouchProbeInvalid	55	TouchProbe is invalid.
InputParameterInvalid	TouchProbeNotActive	44	The Touchprobe is not active.
InputParameterInvalid	TouchProbeVirtual	64	The connected Touchprobe is virtual.
InputParameterInvalid	UnknownMode	42	The Mode is indeterminable.
InputParameterInvalid	VelRange	59	Vel is outside the valid range.
LimitReached	HwLimitNegReached	65	Negative limit switch has been reached.
LimitReached	HwLimitPosReached	66	Positive limit switch has been reached.
SercosConditionInvalid	SercosNotInPhaseFour	43	The bus is not in phase 4.
UnexpectedProgramBehavior	UnexpectedFeedback	10	An unintended detected error occurred during execution.

AccRange

Enumeration name:	AccRange
Enumeration value:	60
Description:	Acc is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrAcc, an invalid value has been transferred.	A value greater than 0 and smaller than MaxAcc of the drive must be transferred at the input i_lrAcc.

AxisInvalid

Enumeration name:	AxisInvalid
Enumeration value:	25
Description:	The connected drive is not supported.

Issue	Cause	Solution
-	No drive has been applied at the input Axis.	A valid drive must be transferred to the input Axis.

Busy

Enumeration name:	Busy
Enumeration value:	1
Description:	The order is executed.

Homing is being executed.

CommandAborted

Enumeration name:	CommandAborted
Enumeration value:	9
Description:	The action was canceled.

The job was cancelled.

DecRange

Enumeration name:	DecRange
Enumeration value:	61
Description:	Dec is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrDec, an invalid value has been transferred.	A value greater than 0 and smaller than MaxAcc of the drive must be transferred to the input i_lrDec.

Done

Enumeration name:	Done
Enumeration value:	8
Description:	The order is completed.

Homing was terminated.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	26
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.

DriveNotInitialised

Enumeration name:	DriveNotInitialised
Enumeration value:	27
Description:	The connected drive is not initialized.

Issue	Cause	Solution
-	The function FC_DriveInit was not activated for the drive at the input Axis.	Before using the POU, the drive must be initialized using the function FC_DriveInit.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	70
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis on the input Axis is not in position control.	Verify the state of the axis.

HwLimitNegReached

Enumeration name:	HwLimitNegReached
Enumeration value:	65
Description:	Negative limit switch has been reached.

Issue	Cause	Solution
-	The negative hardware limit switch has been found when searching for the reference signal.	Verify the signal at the input i_xHwLimitNeg. Ensure that the sensor of the negative limit switch is not dirty.

Issue

Cause

Solution

The negative hardware limit switch has been found when searching for the reference signal.

Verify the signal at the input i_xHwLimitNeg.

Ensure that the sensor of the negative limit switch is not dirty.

HwLimitNegStillActive

Enumeration name:	HwLimitNegStillActive
Enumeration value:	56
Description:	HwLimitNeg is still active.

Issue	Cause	Solution
-	The negative limit switch i_xHwLimitNeg is still active. However, a Touchprobe signal has been detected or the maximum travel distance i_lrMaxTravel has been reached.	Verify the signal at the input i_xHwLimitNeg. Verify the value for the maximum travel distance at the input i_lrMaxTravel. Ensure that the sensor of the negative limit switch is not dirty.

Issue

Cause

Solution

The negative limit switch i_xHwLimitNeg is still active. However, a Touchprobe signal has been detected or the maximum travel distance i_lrMaxTravel has been reached.

Verify the signal at the input i_xHwLimitNeg.

Verify the value for the maximum travel distance at the input i_lrMaxTravel.

Ensure that the sensor of the negative limit switch is not dirty.

HwLimitPosReached

Enumeration name:	HwLimitPosReached
Enumeration value:	66
Description:	Positive limit switch has been reached.

Issue	Cause	Solution
-	The positive hardware limit switch has been found when searching for the reference signal.	Verify the signal at the input i_xHwLimitPos. Ensure that the sensor of the positive limit switch is not dirty.

Issue

Cause

Solution

The positive hardware limit switch has been found when searching for the reference signal.

Verify the signal at the input i_xHwLimitPos.

Ensure that the sensor of the positive limit switch is not dirty.

HwLimitPosStillActive

Enumeration name:	HwLimitPosStillActive
Enumeration value:	57
Description:	HwLimitPos is still active.

Issue	Cause	Solution
-	The negative limit switch i_xHwLimitPos is still active. However, a Touchprobe signal has been detected or the maximum travel distance i_lrMaxTravel has been reached.	Verify the signal at the input i_xHwLimitPos. Verify the value for the maximum travel distance at the input i_lrMaxTravel. Ensure that the sensor of the positive limit switch is not dirty.

Issue

Cause

Solution

The negative limit switch i_xHwLimitPos is still active. However, a Touchprobe signal has been detected or the maximum travel distance i_lrMaxTravel has been reached.

Verify the signal at the input i_xHwLimitPos.

Verify the value for the maximum travel distance at the input i_lrMaxTravel.

Ensure that the sensor of the positive limit switch is not dirty.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	62
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input i_lrJerk.	A value greater than 0 and smaller than PDL.Gc_lrMaxJerk of the drive must be transferred to the input i_lrJerk.

MaxTravelRange

Enumeration name:	MaxTravelRange
Enumeration value:	63
Description:	MaxTravel is outside the valid range.

Issue	Cause	Solution
-	An invalid value has been transferred at the input i_lrMaxTravel.	A value greater than 0 must be transferred at the input i_lrMaxTravel.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The POU is waiting for jobs.

PLCopenTransition

Enumeration name:	PLCopenTransition
Enumeration value:	49
Description:	PLCopen transition is not permitted.

Issue	Cause	Solution
-	During job submission the axis is not in PLCopen state MC_Standstill or MC_Homing.	It must be made sure that the axis is in a valid PLCopen state when the POU is enabled.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	43
Description:	The bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

TouchProbeInvalid

Enumeration name:	TouchProbeInvalid
Enumeration value:	55
Description:	TouchProbe is invalid.

Issue	Cause	Solution
-	The input i_ifTouchProbe is not connected with a valid Touchprobe.	Make sure that a Touchprobe object was transferred to the input i_ifTouchProbe.

TouchProbeNotActive

Enumeration name:	TouchProbeNotActive
Enumeration value:	44
Description:	The Touchprobe is not active.

Issue	Cause	Solution
-	The Touchprobe transferred at the input i_ifTouchProbe is not active.	Make sure that the parameter IOx_Mode of the input group (LXM62IO_InOutTP) is set to Touchprobe / 1.

TouchProbeNotFound

Enumeration name:	TouchProbeNotFound
Enumeration value:	58
Description:	No Touchprobe was found.

Issue	Cause	Solution
-	The Touchprobe sensor does not transmit a signal.	Verify the power supply of the Touchprobe sensor. Make sure that the Touchprobe sensor is not dirty. Make sure that the Touchprobe sensor can be triggered by the mechanical system. Verify the electrical connection of the Touchprobe sensor and of the Touchprobe input.

Issue

Cause

Solution

The Touchprobe sensor does not transmit a signal.

Verify the power supply of the Touchprobe sensor.

Make sure that the Touchprobe sensor is not dirty.

Make sure that the Touchprobe sensor can be triggered by the mechanical system.

Verify the electrical connection of the Touchprobe sensor and of the Touchprobe input.

TouchProbeVirtual

Enumeration name:	TouchProbeVirtual
Enumeration value:	64
Description:	The connected Touchprobe is virtual.

Issue	Cause	Solution
-	The used Touchprobe is not real.	Make sure that the Touchprobe does not belong to a virtual device. (e.g. virtual Lexium62)

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	10
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	A detected error occurred in the internal execution.	Please inform the support team about this detected error.

UnknownMode

Enumeration name:	UnknownMode
Enumeration value:	42
Description:	The Mode is indeterminable.

Issue	Cause	Solution
-	At the input i_etMode, an invalid value has been applied.	An element of the enumeration PDL.ET_HomeTpMode must be applied at the input i_etMode.

VelRange

Enumeration name:	VelRange
Enumeration value:	59
Description:	Vel is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrVel, an invalid value has been transferred.	A value greater than 0 and smaller than MaxVel of the drive must be transferred to the input i_lrVel.