MC_HOME

Function Description

The MC_HOME function is used to execute a homing command.

Representation in FBD

Representation:

Representation in LD

Representation:

Representation in IL

Representation:

LD Axis

CAL MC_HOME_Instance(AXIS:=AXIS, EXECUTE:=EXEC, POSITION:=POS, SPEED:=HMS, HTYPE:=HMT, ERROR=>ERR, DONE=>DO, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID)

Representation in ST

Representation:

MC_HOME_Instance(AXIS:=AXIS, EXECUTE:=EXEC, POSITION:=POS, SPEED:=HMS, HTYPE:=HMT, ERROR=>ERR, DONE=>DO, BUSY=>B, COMMANDABORTED=>AB, ERRORID=>ERRID);

Description of the Input Parameters

The following table describes the input parameters that are in addition to the basic parameters:

Parameter	Type	Comment
HTYPE	INT	Homing type. For Lexium 15MP. HTYPE: if the value is set to -1, no change, the parameter is not transmitted.
POSITION	DINT	Position at the end of the homing.
SPEED	DINT	Homing speed. If the value is of 0, no change.

NOTE: The value of the homing type is described in the manual of the device to be implemented. For the Lexium 15, refer to the Homing in Lexium CANopen communication.