Ladder Program for Homing

Insert a Function bock in the right side of the ladder program using the icon or pressing F10.

Assign XPM_ORG as the FB type and add the required input and output arguments. When this FB gets executed the homing sequence that was defined in XG-PM is executed. The axis defined in the input argument will use all the homing parameters and digital inputs defined in the corresponding axis column in XG-PM.

Ladder Diagram looks like:

Use a function block XPM_FLT to create a home position origin at the current position of the motor. This can be used as an alternative to XPM_ORG if desired. Or if the application requires the coordinate system to change the origin position.

The current position will be redefined with the position value in Home Position under the Homing Parameters in XG-PM. Home Compensation under the Homing Parameters in XG-PM has no affect on position when using XPM_FLT.

Ladder Diagram looks like:

XPM_PRS can be used as a pseudo method for homing but is not defined as a homing function block. Use a function block XPM_PRS to create a new position at the current position of the motor. Any number can be entered to establish a new position value.

Neither Home Position nor Home Compensation under the Homing Parameters in XG-PM have any effect when using XPM_PRD.

Ladder Diagram looks like:

It is always a good idea to include a way to stop the motion of each axis in the ladder program. XPM_STP will immediately stop the motor using the defined deceleration value in the function block assigned to DEC_TIME.

Ladder Diagram looks like: