F171_PulseOutput_Home

Home return

This instruction performs a home return according to the parameters in the specified DUT.Pulses are output from the specified channel when the control flag for this channel is FALSE and the execution condition is TRUE.

Parameters

Input

s_dutDataTable (F171_PulseOutput_Home_DUT)

Starting address of area containing the data table

n_iPulseOutputChannel* (decimal constant)

Pulse output channel:

FP-S: 0,2

FP-X R: 0,1

FP-XC14T: 0,1,2

FP-X C30T/C60T: 0,1,2,3

Remarks

After a drive system has been switched on, there is a difference between the internal position value (elapsed value) and the mechanical position of the axis; this difference cannot be predetermined. The internal value must be synchronized with the actual position value of the axis. This is done by means of a home return, during which a position value is registered at a known reference point (home).During execution of a home return instruction, pulses are continuously output until the home input is enabled. The I/O allocation is determined by the channel used.To decelerate movement when near the home position, designate a near home input and set bit 4 of the special data register storing the pulse output control code (sys_wHscOrPulseControlCode) to TRUE and back to FALSE again.The deviation counter clear output can be set to TRUE when home return has been completed.The value in the elapsed value area during a home return differs from the current value. When the return is completed, the elapsed value changes to 0.

Select one of two different operation modes:

  • Type 1: The home input is effective regardless of whether or not there is a near home input, whether deceleration is taking place, or whether deceleration has been completed.

    • Without near home input:

    • With near home input:

      1.  (1) Initial and final speed
      2.  (2) Target speed
      3.  (3) Near home input: TRUE
      4.  (4) Home input: TRUE
      5.  (5) Home input is effective at any time.

  • Type 2: The home input is effective only after deceleration (started by near home input) has been completed.

    1.  (1) Initial and final speed
    2.  (2) Target speed
    3.  (3) Near home input: TRUE
    4.  (4) Home input: TRUE
    5.  (5) Home input is effective only after deceleration

Use the following predefined DUT:

F171_PulseOutput_Home_DUT

The following parameters can be specified in the DUT:

  • Control code

  • Initial and final speed

  • Target speed

  • Acceleration/deceleration time

  • Deviation counter clear signal

Pulse output characteristics

  • The pulse output frequency changes according to the specified acceleration/deceleration time.

  • The difference between target and initial speed determines the slope of the ramps.

General programming information

  • Even when home input has occurred, executing this instruction causes pulse output to begin.

  • If the near home input is enabled while acceleration is in progress, deceleration will start.

  • If both the main program and the interrupt program contain code for the same channel, make sure both are not executed simultaneously.

  • The deviation counter clear signal is allocated to dedicated output numbers specific to each PLC type.

  • When programs are being edited in RUN mode, pulse output stops but resumes after the program changes have been downloaded.

  • FP-X: When a pulse output instruction is executed and pulses are being output, the pulse output control flag (e.g. sys_bIsPulseChannel0Active) of the corresponding channel is TRUE. No other pulse output instruction can be executed as long as this flag is TRUE.

  • FPS: The high-speed counter control flag (e.g. sys_bIsHscChannel0ControlActive) and the pulse output control flag (e.g. sys_bIsPulseChannel0Active) are assigned to the same special internal flag number (e.g. R903A). Therefore, when a high-speed counter instruction or a pulse output instruction is executed, both the high-speed counter control flag (e.g. sys_bIsHscChannel0ControlActive) and the pulse output control flag (e.g. sys_bIsPulseChannel0Active) for the channel used are TRUE. No other high-speed counter instruction or pulse output instruction can be executed as long as this flag is TRUE.

  • FPS: Set any high-speed counter allocated to a pulse output channel to "Unused" in the system registers.

  • FP-X: Set "Pulse output" for the desired channel in the system registers.

  • FPS: Executing the circular interpolation control instruction F176_PulseOutput_Center sets the circular interpolation control flag (sys_bIsCircularInterpolationActive) to TRUE. The status of this flag is maintained until the target value is reached (even if the execution condition is no longer TRUE). During this time, other pulse output instructions cannot be executed.

  • We strongly recommend that you incorporate a forced stop option in your positioning program.

  • The status of the high-speed counter control flag or pulse output control flag may change while a scan is being carried out. For example, if the number of received bytes is read more than once different statuses may exist within one scan.

Deviation counter clear outputs and home inputs for FPS

Channel no.

Deviation counter clear output

Home input
0 Y2 X2
2 Y5 X5

Deviation counter clear outputs and home inputs for FP-X C14R, C30/60R

The pulse output function is only available if the pulse I/O cassette (AFPX-PLS) has been installed.

Channel no.

Deviation counter clear output

Home input
0
(cassette mounting part 1) Y102 X102
1
(cassette mounting part 2)
(C30/60R only) Y202 X202

Deviation counter clear outputs and home inputs for FP-X C14T, C30/60T

Channel no.

Deviation counter clear output

Home input
0 Y4 or Y8 X4
1 Y5 or Y9 X5
2 – X6
3 (C30/60R only) – X7
Related topics:

F171_PulseOutput_Home_DUT

Introduction to pulse output instructions

Writing the pulse output control code

PulseOutput_Home_FB

PulseControl_NearHome

System instructions

Instructions pane

Memory areas

Data types

Parent topic: F instructions

Example

Global variables

In the global variable list you define variables that can be accessed by all POUs in the project.

DUT

The DUT F171_PulseOutput_Home_DUT is predefined in the FP Library.

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_EXTERNAL
		X0_bMotorSwitch: BOOL:=FALSE;
			(*at X0*)
	END_VAR
	VAR 
		dutHome: F171_PulseOutput_Home_DUT:=dwControlCode := 16#1125;
			(*Control code:
Digit 3: 1= Duty ratio 25%
Digit 2: 1= Frequency range 48Hz-100kHz
Digit 1: 2 =Operation mode type 1
Ditig 0: 5= CCW +  deviation counter clear signal*)
		diInitialSpeed: DINT:=100;
		diTargetSpeed: DINT:=2000;
		diAccelerationTime: DINT:=300;
		@'': @'';
	END_VAR

LD body

BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 16 ;
        NETWORK_BODY
B(B_CONTACT,,X0_bMotorSwitch,4,1,6,3,R);
B(B_F,E_MOVE!,Instance,17,4,23,8,,?DEN?D?AENO?C);
B(B_F,E_MOVE!,Instance,17,8,23,12,,?DEN?D?AENO?C);
B(B_VAROUT,,dutHome.diTargetSpeed,23,6,25,8,);
B(B_VARIN,,diTargetSpeed,15,6,17,8,);
B(B_VAROUT,,dutHome.diAccelerationDecelerationTime,23,10,25,12,);
B(B_VARIN,,diAccelerationTime,15,10,17,12,);
B(B_F,E_MOVE!,Instance,17,12,23,16,,?DEN?D?AENO?C);
B(B_VAROUT,,dutHome.diDeviationCounterClearSignalOutputTime,23,14,25,16,);
B(B_VARIN,,10,15,14,17,16,);
B(B_F,E_MOVE!,Instance,17,0,23,4,,?DEN?D?AENO?C);
B(B_VAROUT,,dutHome.diInitialAndFinalSpeed,23,2,25,4,);
B(B_VARIN,,diInitialSpeed,15,2,17,4,);
L(7,2,7,6);
L(7,6,7,10);
L(1,2,4,2);
L(6,2,7,2);
L(7,2,17,2);
L(7,6,17,6);
L(7,10,17,10);
L(7,10,7,14);
L(7,14,17,14);
L(1,0,1,16);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,X0_bMotorSwitch,6,3,8,5,R);
B(B_VARIN,,dutHome,15,4,17,6,);
B(B_VARIN,,0,15,5,17,7,);
B(B_F,F171_PulseOutput_Home!,Instance,17,2,30,7,,?DEN?Ds_dutDataTable?Hn_iPulseOutputChannel?AENO);
B(B_COMMENT,,Example for home position return,1,1,18,2,);
L(1,4,6,4);
L(8,4,17,4);
L(1,0,1,8);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY

ST body

IF DF(X0_bMotorSwitch) then
    dutHome.diInitialAndFinalSpeed:=diInitialSpeed;
    dutHome.diTargetSpeed:=diTargetSpeed;
    dutHome.diAccelerationDecelerationTime:=diAccelerationTime;
    dutHome.diDeviationCounterClearSignalOutputTime:=10;
END_IF;
(*Example for home position return*)
IF DF(X0_bMotorSwitch) then
    F171_PulseOutput_Home(s_dutDataTable := dutHome,
    n_iPulseOutputChannel :=0);
END_IF;
Related topics:

F171_PulseOutput_Home_DUT

Modified on: 2022-03-02Feedback on this pagePanasonic hotline