Perform home for all axes in a group with MC_GroupHome

MC_GroupHome is used to give servo home command to axes in an axis group. The homing mode of each axis is stored in the slave’s SDO parameters. The Position input is an array of positions to set the axes position to after homing is complete.

  • The position array entries correspond to the order of the axis ID (1~10).

  • LS_Connect, MC_GroupEnable and MC_GroupPower must be executed before this function block.

  • The examples in this topic can be found in the XMC_AxisGroup_FBs.zip downloadable from Example Applications.

Element Name Element Type Description
Execute Input Edge detected request to execute the function block.
AxesGroup Input/Output Set the group to send home command to. Group number 1-16. This must be an UINT variable.
Position Input Specify the absolute position of each axis when homing is complete.
BufferMode Input Specify the sequential operation setting. See the Buffer Mode table below.
Done Output Indicates the completion of the function block execution.
Busy Output Indicates the function block is in operation.
Active Output Indicates the function block is active controlling the axes.
CommandAborted Output Indicates the function block execution was aborted.
Error Output Indicates whether an error occurs or not.
ErrorID Output Error Identification number.

 

BufferMode Table

Value Buffer Mode Description
0 Aborting Abort previous command and execute the command immediately.
1 Buffered Execute the command after previous command is completed.
2 BlendingLow The new command is blended into a previously executed command using the lower velocity value when comparing the previous command and new command.
3 BlendingPrevious The new command is blended into a previous command using the velocity of the previous command.
4 BlendingNext The new command is blended into a previous command using the velocity from the new command.
5 BlendingHigh The new command is blended into a previous command using the higher velocity value when comparing the previous command and new command.

Position Array sets home position for axis after homing is done

Before MC_GroupHome

After MC_GroupHome

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

LM707