F382_Positioning_Home

Home return

This instruction starts the home return operation according to the parameters specified in the positioning memory (axis setting area).

Parameters

Input

s1_Channel (INT)

Channel number

Configurator PMX: SYS_PMX_CHANNEL_0–SYS_PMX_CHANNEL_3

Configurator PM7: SYS_PM7_AXIS_1–SYS_PM7_AXIS_8

Remarks

If an operand is an out-of-range value, an operation error occurs.
The stop operation has priority when the conditions of system stop, emergency stop, limit stop and deceleration stop are satisfied.
An operation error occurs when the system register of a specified channel is other than Pulse output [Table operation].
When the home return pattern is DOG method 1, DOG method 3 or Home return method, an operation error occurs if the home input has not been set in the system register. When the home return pattern is DOG method 2 or Data set method, the home return starts even if the home input has not been set in the system register.

Error flags

sys_bIsOperationErrorHold (turns to TRUE and remains TRUE)

if the area specified using the index modifier exceeds the limit.
if a value specified for a parameter is outside the permissible range.
if Pulse output [Table operation] has not been set in the system register.

sys_bIsOperationErrorNonHold (turns to TRUE for one scan)

if the area specified using the index modifier exceeds the limit.
if a value specified for a parameter is outside the permissible range.
if Pulse output [Table operation] has not been set in the system register.

Example

POU header

All input and output variables used for programming this function have been declared in the POU header. The same POU header is used for all programming languages.

	VAR
		bGoHome: BOOL:=FALSE;
		iChannel0: INT:=0;
	END_VAR

POU body

When the variable bGoHome changes from FALSE to TRUE, the function is carried out.

LD body

BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_F,F382_Positioning_Home!,,7,2,19,6,,?DEN?Ds1_Channel?AENO);
B(B_CONTACT,,bGoHome,3,3,5,5,);
B(B_VARIN,,iChannel0,5,4,7,6,);
L(1,4,3,4);
L(1,0,1,6);
L(5,4,7,4);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY

ST body

IF (bGoHome) then
    F382_Positioning_Home(s1_Channel := iChannel0);
END_IF;