PLC Lib: Tc3_MC2_AdvancedHoming

Transcription

1 Manual PLC Lib: Tc3_MC2_AdvancedHoming TwinCAT 3 Version: Date:

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3 Table of contents Table of contents 1 Foreword Notes on the documentation Safety instructions Overview Requirements Homing procedures Function blocks Structure of custom homing sequences Function blocks Parameter Finalizing functions MC_FinishHoming MC_HomeDirect MC_AbortHoming Referencing functions MC_AbortPassiveHoming MC_StepReferenceFlyingRefPulse MC_StepReferenceFlyingSwitch Step functions MC_StepAbsoluteSwitch MC_StepAbsoluteSwitchDetection MC_StepBlock MC_StepBlockDetection MC_StepBlockLagBased MC_StepBlockLagBasedDetection MC_StepLimitSwitch MC_StepLimitSwitchDetection MC_StepReferencePulse MC_StepReferencePulseDetection Data types General E_HomingErrorCodes MC_Home_Direction MC_Ref_Signal_Ref MC_Switch_Mode ST_Home_Options ST_Home_Options ST_Home_Options ST_Home_Options Parameter MC_HomingParameter MC_HomingParameterCtrlMode MC_HomingParameterDrive MC_HomingParameterDriveGeneral MC_HomingParameterNc MC_HomingParameterNcGeneral Appendix Sample PLC Lib: Tc3_MC2_AdvancedHoming Version: 1.2 3

4 Table of contents 4 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

5 Foreword 1 Foreword 1.1 Notes on the documentation This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning the components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning. The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards. Disclaimer The documentation has been prepared with care. The products described are, however, constantly under development. We reserve the right to revise and change the documentation at any time and without prior announcement. No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation. Trademarks Beckhoff, TwinCAT, EtherCAT, Safety over EtherCAT, TwinSAFE, XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. Patent Pending The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP , EP , DE , DE with corresponding applications or registrations in various other countries. The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP , US with corresponding applications or registrations in various other countries. EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany Copyright Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design. PLC Lib: Tc3_MC2_AdvancedHoming Version: 1.2 5

6 Foreword 1.2 Safety instructions Safety regulations Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc. Exclusion of liability All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards. Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note. The safety instructions must be read carefully and followed without fail! Serious risk of injury! Failure to follow the safety instructions associated with this symbol directly endangers the life and health of persons. DANGER Risk of injury! Failure to follow the safety instructions associated with this symbol endangers the life and health of persons. WARNING Personal injuries! Failure to follow the safety instructions associated with this symbol can lead to injuries to persons. CAUTION Damage to the environment or devices Failure to follow the instructions associated with this symbol can lead to damage to the environment or equipment. Attention Tip or pointer This symbol indicates information that contributes to better understanding. Note 6 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

7 Overview 2 Overview The TwinCAT Motion Control PLC library Tc3_MC2_AdvancedHoming includes function blocks for programming machine applications. The Tc3_MC2_AdvancedHoming is based on the similarly revised PLCopen specification for Motion Control function blocks V2.0. This library contains function blocks of Part 5 Homing Procedures ( TwinCAT Version The Tc3_MC2_AdvancedHoming library can be used with TwinCAT version 3.1 Build 4020 or higher. With remote programmed controllers care must be taken that an appropriate version is installed on both the programmer PC and the control PC. In the case of control systems with the operating system Windows CE, the version of the installed image is decisive. 2.1 Requirements In order to use referencing sequences that limit the torque or use the current torque as detection variable, it is necessary to ensure that the current torque is present and linked in the process image of the drive controller. In addition, in the dialog of the Nc drive on the parameter page under Torque and Acceleration Scaling, the Input Scaling Factor (Actual Torque) must be > = 0.0 and set to the correct value (0.1 scales the value for the AX5000 in %): PLC Lib: Tc3_MC2_AdvancedHoming Version: 1.2 7

8 Overview 2.2 Homing procedures Until now referencing procedures have been treated as separate sequences during the start phase of a machine or axis. The actual sequence was not visible to the user. In order to gain more control on the referencing sequence itself, user-specific referencing procedures can now be programmed: HomeAbsoluteSwitch homing to a sensor with movement range limit position sensors HomeLimitSwitch homing to a movement range limit position sensor HomeBlock homing to a mechanical fixed stop HomeReferencePulse homing to the zero track of an encoder HomeDirect static homing, position is set to the user position HomeAbsolute - static homing, position is set to the position of a reference encoder 2.3 Function blocks In order to give the user control over the various referencing procedures, a number of additional function blocks (FBs) is defined. It is possible to describe complex referencing procedures by concatenating these FBs. "Step" function blocks The following FBs are suitable for the homing procedures and are executed in the axis state "Homing" or place the axis in this state. The axis state is not changed after completion, i.e. the axis remains in the "Homing" state afterwards. MC_StepAbsoluteSwitch / MC_StepAbsoluteSwitchDetection MC_StepLimitSwitch / MC_StepLimitSwitchDetection MC_StepBlock / MC_StepBlockDetection / MC_StepBlockLagBased / MC_StepBlockLagBasedDetection MC_StepReferencePulse / MC_StepReferencePulseDetection Finalizing function blocks These FBs lead to the final position and change the axis state from "Homing" to "Standstill". MC_HomeDirect MC_HomeAbsolute MC_FinishHoming MC_AbortHoming Function blocks for flying homing In addition, FBs are required that can be executed while the machine is running. The axis state is not "Homing", nor is it changed to this state. These FBs therefore have no effect on the state diagram (cf. PLCopen). Like administrative FBs they can be called in any movement states. MC_StepReferenceFlyingSwitch MC_StepReferenceFlyingRefPulse MC_AbortPassiveHoming 2.4 Structure of custom homing sequences User-specific homing sequences can be created in a simple manner from the available function blocks. Note that when doing so every sequence must always be ended by a finalizing FB so that, if necessary, modified parameters of the TwinCAT NC or the drive controller can be reconstructed and the "HomingState" is also changed correspondingly. 8 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

9 3 Function blocks 3.1 Parameter 3.2 Finalizing functions MC_FinishHoming Fig. 1: To complete a homing sequence (not when using exclusively passive homing functions) it is necessary to call a finalizing FB. The function block MC_FinishHoming completes a successful homing sequence and ensures that modified parameters are reset to their original values. The axis leaves the homing state. Inputs VAR_INPUT Execute Distance Velocity Acceleration Deceleration Jerk BufferMode : MC_BufferMode; Options : ST_Home_Options2; Execute: The command is executed with a rising edge. Distance: Distance by which the axis moves away from the current position. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0); if the value is 0, the default acceleration from the axis configuration for the XAE TwinCAT Engineering environment is used. Deceleration: Deceleration ( 0). If the value is 0, the default deceleration from the axis configuration for the XAE TwinCAT Engineering environment is used. Jerk: Jerk ( 0). If the value is 0, the default pressure from the axis configuration for the XAE TwinCAT Engineering environment is used. BufferMode: Currently not implemented Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. PLC Lib: Tc3_MC2_AdvancedHoming Version: 1.2 9

10 Outputs VAR_OUTPUT Done Busy CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. Also see about this 2 MC_StepBlock [} 19] 2 MC_AbortHoming [} 11] MC_HomeDirect To complete a homing sequence (not when using exclusively passive homing functions) it is necessary to call a finalizing FB. The function block MC_HomeDirect completes a successful homing sequence, resets the axis to a defined value and ensures that modified parameters are reset to their original values. The axis leaves the homing state. Inputs VAR_INPUT Execute SetPosition BufferMode : MC_BufferMode; Options : ST_Home_Options2; Execute: The command is executed with a rising edge. SetPosition: Position value to which the axis position is to be set. BufferMode: Currently not implemented 10 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

11 Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status MC_AbortHoming To complete a homing sequence (not when using exclusively passive homing functions) it is necessary to call a finalizing FB. The function block MC_AbortHoming aborts a homing sequence and ensures that modified parameters are reset to their original values. The axis leaves the homing state. Inputs VAR_INPUT Execute Options : ST_Home_Options2; Execute: The command is executed with a rising edge. Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. PLC Lib: Tc3_MC2_AdvancedHoming Version:

12 Outputs VAR_OUTPUT Done Busy CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. 3.3 Referencing functions MC_AbortPassiveHoming Inputs VAR_INPUT Execute Options : ST_Home_Options; Execute: The command is executed with a rising edge at input Execute. Options: Currently not used. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. 12 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

13 Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status MC_StepReferenceFlyingRefPulse Inputs VAR_INPUT Execute ReferenceSignal : MC_Ref_Signal_Ref; SetPosition TimeLimit : TIME; DistanceLimit BufferMode : MC_BufferMode; Options : ST_Home_Options; Execute: The command is executed with a rising edge at input Execute. ReferenceSignal: Configuration of the reference signal source SetPosition: Position value to which the axis position is to be set TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. BufferMode: Currently not implemented Options: Currently not used. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; PLC Lib: Tc3_MC2_AdvancedHoming Version:

14 Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status MC_StepReferenceFlyingSwitch Inputs VAR_INPUT Execute ReferenceSignal : MC_Ref_Signal_Ref; SetPosition TimeLimit : TIME; DistanceLimit BufferMode : MC_BufferMode; Options : ST_Home_Options; Execute: The command is executed with a rising edge at input Execute. ReferenceSignal: Configuration of the reference signal source SetPosition: Position value to which the axis position is to be set TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. BufferMode: Currently not implemented Options: Currently not used. Outputs VAR_OUTPUT Done Busy Active CommandAborted 14 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

15 Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. 3.4 Step functions MC_StepAbsoluteSwitch Inputs VAR_INPUT Execute Direction : MC_Home_Direction; SwitchMode : MC_Switch_Mode; ReferenceSignal : MC_Ref_Signal_Ref; Velocity Acceleration Deceleration Jerk SetPosition TimeLimit : TIME; DistanceLimit TorqueLimit PositiveLimitSwitch NegativeLimitSwitch PLC Lib: Tc3_MC2_AdvancedHoming Version:

16 BufferMode Options : MC_BufferMode; : ST_Home_Options4; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. SwitchMode: Enumeration that defines the final condition for the search procedure. ReferenceSignal: This structure defines the source of the reference cam signal. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the SetPosition: Position value to which the axis position is to be set. TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value in order to avoid mechanical damage. PositiveLimitSwitch: Signal of the hardware limit switch in the logically positive movement direction (PositiveLimitSwitch = FALSE within the permissible movement range). NegativeLimitSwitch: Signal of the hardware limit switch in the logically negative movement direction (NegativeLimitSwitch = FALSE within the permissible movement range). BufferMode: Currently not implemented Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. EnableLagErrorDetection: In the step functions the lag error monitoring is switched off in order to ensure a smooth homing procedure. If it would be purposeful to keep the lag error monitoring active in an application, this can be achieved by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. 16 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

17 ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status MC_StepAbsoluteSwitchDetection Inputs VAR_INPUT Execute Direction : MC_Home_Direction; SwitchMode : MC_Switch_Mode; ReferenceSignal : MC_Ref_Signal_Ref; Velocity Acceleration Deceleration Jerk TimeLimit : TIME; DistanceLimit TorqueLimit PositiveLimitSwitch NegativeLimitSwitch BufferMode : MC_BufferMode; Options : ST_Home_Options4; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. SwitchMode: Enumeration that defines the final condition for the search procedure. ReferenceSignal: This structure defines the source of the reference cam signal. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the PLC Lib: Tc3_MC2_AdvancedHoming Version:

18 Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value in order to avoid mechanical damage. PositiveLimitSwitch: Signal of the hardware limit switch in the logically positive movement direction (PositiveLimitSwitch = FALSE within the permissible movement range). NegativeLimitSwitch: Signal of the hardware limit switch in the logically negative movement direction (NegativeLimitSwitch = FALSE within the permissible movement range). BufferMode: Currently not implemented Options DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. EnableLagErrorDetection: In the step functions the lag error monitoring is switched off in order to ensure a smooth homing procedure. If it would be purposeful to keep the lag error monitoring active in an application, this can be achieved by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; RecordedPosition Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. RecordedPosition : Axis position at which the event was recorded. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. 18 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

19 3.4.3 MC_StepBlock Inputs VAR_INPUT Execute Direction : MC_Home_Direction; Velocity Acceleration Deceleration Jerk SetPosition DetectionVelocityLimit DetectionVelocityTime : TIME; TimeLimit : TIME; DistanceLimit TorqueLimit TorqueTolerance BufferMode : MC_BufferMode; Options : ST_Home_Options3; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the SetPosition: Position value to which the axis position is to be set. DetectionVelocityLimit: Velocity that must be fallen below for the time DetectionVelocityTime in order to detect driving against the fixed stop DetectionVelocityTime: Time for detecting the velocity undershoot when driving against the fixed stop. TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value, in relation to the weight counterbalance that is possibly parameterized in the drive, in order to avoid mechanical damage. TorqueTolerance: Tolerance related to the TorqueLimit within which driving against the fixed stop is detected. PLC Lib: Tc3_MC2_AdvancedHoming Version:

20 BufferMode: Currently not implemented Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. InstantLagReduction: When homing to a mechanical fixed stop, the sudden stop produces a position lag in the NC axis, which is dissipated with the parameterized dynamic values in the further course. This can lead to an assumed delay when observing the sequence, but it is purposeful in particular with "soft" fixed stops. The position lag is dissipated abruptly by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. 20 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

21 3.4.4 MC_StepBlockDetection Inputs VAR_INPUT Execute Direction : MC_Home_Direction; Velocity Acceleration Deceleration Jerk DetectionVelocityLimit DetectionVelocityTime : TIME; TimeLimit : TIME; DistanceLimit TorqueLimit TorqueTolerance BufferMode : MC_BufferMode; Options : ST_Home_Options3; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the DetectionVelocityLimit: Velocity that must be fallen below for the time DetectionVelocityTime in order to detect driving against the fixed stop DetectionVelocityTime: Time for detecting the velocity undershoot when driving against the fixed stop. TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value, in relation to the weight counterbalance that is possibly parameterized in the drive, in order to avoid mechanical damage. TorqueTolerance: Tolerance related to the TorqueLimit within which driving against the fixed stop is detected. BufferMode: Currently not implemented PLC Lib: Tc3_MC2_AdvancedHoming Version:

22 Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. InstantLagReduction: When homing to a mechanical fixed stop, the sudden stop produces a position lag in the NC axis, which is dissipated with the parameterized dynamic values in the further course. This can lead to an assumed delay when observing the sequence, but it is purposeful in particular with "soft" fixed stops. The position lag is dissipated abruptly by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; RecordedPosition Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. RecordedPosition : Axis position at which the event was recorded. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. 22 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

23 3.4.5 MC_StepBlockLagBased Inputs VAR_INPUT Execute Direction : MC_Home_Direction; Velocity Acceleration Deceleration Jerk SetPosition DetectionVelocityLimit DetectionVelocityTime : TIME; TimeLimit : TIME; DistanceLimit TorqueLimit LagLimit BufferMode : MC_BufferMode; Options : ST_Home_Options3; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the SetPosition: Position value to which the axis position is to be set. DetectionVelocityLimit: Velocity that must be fallen below for the time DetectionVelocityTime in order to detect driving against the fixed stop DetectionVelocityTime: Time for detecting the velocity undershoot when driving against the fixed stop. TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value, in relation to the weight counterbalance that is possibly parameterized in the drive, in order to avoid mechanical damage. LagLimit: Position lag value which, if exceeded, leads to detection of driving against the fixed stop. PLC Lib: Tc3_MC2_AdvancedHoming Version:

24 BufferMode: Currently not implemented Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. InstantLagReduction: When homing to a mechanical fixed stop, the sudden stop produces a position lag in the NC axis, which is dissipated with the parameterized dynamic values in the further course. This can lead to an assumed delay when observing the sequence, but it is purposeful in particular with "soft" fixed stops. The position lag is dissipated abruptly by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. 24 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

25 3.4.6 MC_StepBlockLagBasedDetection Inputs VAR_INPUT Execute Direction : MC_Home_Direction; Velocity Acceleration Deceleration Jerk SetPosition DetectionVelocityLimit DetectionVelocityTime : TIME; TimeLimit : TIME; DistanceLimit TorqueLimit LagLimit BufferMode : MC_BufferMode; Options : ST_Home_Options3; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the SetPosition: Position value to which the axis position is to be set. DetectionVelocityLimit: Velocity that must be fallen below for the time DetectionVelocityTime in order to detect driving against the fixed stop DetectionVelocityTime: Time for detecting the velocity undershoot when driving against the fixed stop. TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value, in relation to the weight counterbalance that is possibly parameterized in the drive, in order to avoid mechanical damage. LagLimit: Position lag value which, if exceeded, leads to detection of driving against the fixed stop. BufferMode: Currently not implemented PLC Lib: Tc3_MC2_AdvancedHoming Version:

26 Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. InstantLagReduction: When homing to a mechanical fixed stop, the sudden stop produces a position lag in the NC axis, which is dissipated with the parameterized dynamic values in the further course. This can lead to an assumed delay when observing the sequence, but it is purposeful in particular with "soft" fixed stops. The position lag is dissipated abruptly by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; RecordedPosition Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. RecordedPosition : Axis position at which the event was recorded. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. 26 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

27 3.4.7 MC_StepLimitSwitch Inputs VAR_INPUT Execute Direction : MC_Home_Direction; LimitSwitchMode : MC_Switch_Mode; LimitSwitchSignal : MC_Ref_Signal_Ref; Velocity Acceleration Deceleration Jerk SetPosition TimeLimit : TIME; DistanceLimit TorqueLimit BufferMode : MC_BufferMode; Options : ST_Home_Options4; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. LimitSwitchMode: Enumeration that defines the final condition for the search procedure. LimitSwitchSignal: This structure defines the source of the reference cam signal. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the SetPosition: Position value to which the axis position is to be set. TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value in order to avoid mechanical damage. BufferMode: Currently not implemented Options: PLC Lib: Tc3_MC2_AdvancedHoming Version:

28 DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. EnableLagErrorDetection: In the step functions the lag error monitoring is switched off in order to ensure a smooth homing procedure. If it would be purposeful to keep the lag error monitoring active in an application, this can be achieved by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status MC_StepLimitSwitchDetection Inputs VAR_INPUT Execute Direction : MC_Home_Direction; 28 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

29 LimitSwitchMode : MC_Switch_Mode; LimitSwitchSignal : MC_Ref_Signal_Ref; Velocity Acceleration Deceleration Jerk TimeLimit : TIME; DistanceLimit TorqueLimit BufferMode : MC_BufferMode; Options : ST_Home_Options4; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. LimitSwitchMode: Enumeration that defines the final condition for the search procedure. LimitSwitchSignal: This structure defines the source of the reference cam signal. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value in order to avoid mechanical damage. BufferMode.Currently not implemented Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. EnableLagErrorDetection: In the step functions the lag error monitoring is switched off in order to ensure a smooth homing procedure. If it would be purposeful to keep the lag error monitoring active in an application, this can be achieved by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; RecordedPosition Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. PLC Lib: Tc3_MC2_AdvancedHoming Version:

30 ErrorID: If the error output is set, this parameter supplies the error number. RecordedPosition : Axis position at which the event was recorded. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status MC_StepReferencePulse Inputs VAR_INPUT Execute Direction : MC_Home_Direction; SwitchMode : MC_Switch_Mode; ReferenceSignal : MC_Ref_Signal_Ref; Velocity Acceleration Deceleration Jerk SetPosition TimeLimit : TIME; DistanceLimit TorqueLimit BufferMode : MC_BufferMode; Options : ST_Home_Options4; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. SwitchMode: Enumeration that defines the final condition for the search procedure. ReferenceSignal: This structure defines the source of the reference cam signal. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the 30 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming

31 Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the SetPosition: Position value to which the axis position is to be set. TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value in order to avoid mechanical damage. BufferMode: Currently not implemented Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. EnableLagErrorDetection: In the step functions the lag error monitoring is switched off in order to ensure a smooth homing procedure. If it would be purposeful to keep the lag error monitoring active in an application, this can be achieved by setting this flag. Outputs VAR_OUTPUT Done Busy Active CommandAborted Error ErrorID : UDINT; Done: Becomes TRUE, if the command was completed successfully. Busy: The Busy output becomes TRUE when the command is started with Execute and remains TRUE as long as the command is processed. If Busy becomes FALSE again, the function block is ready for a new job. At the same time one of the outputs, Done, CommandAborted or Error, is set. Active: Indicates that the command is executed. CommandAborted: Becomes TRUE, if the command could not be fully executed. Error: Becomes TRUE, as soon as an error occurs. ErrorID: If the error output is set, this parameter supplies the error number. Inputs/outputs VAR_IN_OUT Axis : AXIS_REF; Parameter : MC_HomingParameter; Parameter: Data structure of the type MC_HomingParameter [} 36], which must be transferred from function block to function block over the entire homing sequence. Axis: Axis data structure of the type AXIS_REF, which uniquely addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error status. PLC Lib: Tc3_MC2_AdvancedHoming Version:

32 MC_StepReferencePulseDetection Inputs VAR_INPUT Execute Direction : MC_Home_Direction; SwitchMode : MC_Switch_Mode; ReferenceSignal : MC_Ref_Signal_Ref; Velocity Acceleration Deceleration Jerk TimeLimit : TIME; DistanceLimit TorqueLimit BufferMode : MC_BufferMode; Options : ST_Home_Options4; Execute: The command is executed with a rising edge at input Execute. Direction: Enumeration that defines the initial direction of movement for the search procedure. SwitchMode: Enumeration that defines the final condition for the search procedure. ReferenceSignal: This structure defines the source of the reference cam signal. Velocity: Maximum travel velocity (>0). Acceleration: Acceleration ( 0). If the value is 0, the standard acceleration from the axis configuration in the Deceleration: Deceleration ( 0). If the value is 0, the standard deceleration from the axis configuration in the Jerk: Jerk ( 0). If the value is 0, the standard jerk from the axis configuration in the SetPosition: Position value to which the axis position is to be set. TimeLimit: Exceeding this time leads to the search procedure being aborted. DistanceLimit: Exceeding this distance in relation to the start position leads to the search procedure being aborted. TorqueLimit: The motor torque is limited to this value in order to avoid mechanical damage. BufferMode: Currently not implemented Options: DisableDriveAccess: Can be set to TRUE if not all required parameters are available on the hardware drive. NOTE! In this case it is the user's responsibility to ensure that the parameters required for the desired homing sequence are modified and reconstructed. 32 Version: 1.2 PLC Lib: Tc3_MC2_AdvancedHoming