Mc_Home_Isd51X - Danfoss VLT Series Programming Manual

Programming
AXIS_REF_ISD51x
BOOL
DINT
DD_HOME_-
MODE_ISD51x
UDINT
UDINT
UDINT
UDINT
UINT
UDINT
UINT
TIME
UDINT
6 6
Illustration 6.58 MC_Home_ISD51x
Variable
name
VAR_IN_OUT
Axis
VAR_INPUT
Execute
Position
Mode
Velocity
VelocityOut
Acceleration
Deceleration
TorqueLimit
198

MC_Home_ISD51x

Axis
Execute Done
Position Busy
Mode Command
Aborted
Velocity Error
VelocityOut ErrorInfo
Acceleration
Deceleration
TorqueLimit
BlockedVelocity
BlockedDuration
TimeLimit
DistanceLimit
Data Default Description
type value
AXIS_REF_ISD51x Reference to the axis.
See
chapter 6.5.4.1 AXIS_REF_ISD
51x.
BOOL FALSE Start the motion at rising
edge.
DINT 0 Absolute position set [user-
defined position unit].
DD_HOM ddDirect Defines the method used
E_MODE_ _ISD51x for homing. Depending on
ISD51x this selection, the
appropriate input variables
are used.
UDINT 0 Value of the speed during
search for switch/block
[user-defined velocity unit].
UDINT 0 Value of speed during
search for edge of switch
[user-defined velocity unit].
UDINT 0 Value of the acceleration
[user-defined acceleration
unit].
UDINT 0 Value of the deceleration
[user-defined acceleration
unit].
UINT 0xFFFF Maximum torque used for
this motion [per thousand
of rated torque].
Danfoss A/S © 01/2017 All rights reserved.
®
VLT Integrated Servo Drive ISD
Variable
name
BlockedVe-
locity
BOOL
BOOL
BOOL
BlockedDu-
BOOL
ration
DD_ERROR_-
ISD51x
TimeLimit
DistanceLimit UDINT
VAR_OUTPUT
Done
Busy
CommandA-
borted
Error
ErrorInfo
Table 6.36 MC_Home_ISD51x
The homing modes can be selected from the enumerations
in Table 6.37.
®
510 System
Data Default Description
type value
UDINT 0 Axis assumes that it is
blocked when the actual
speed falls below the limit
given here [user-defined
velocity unit].
UINT 5 Axis assumes that it is
blocked when the actual
speed falls below the
BlockedVelocity for the
duration given here [ms].
TIME t#0ms Timeout after which an
error is signaled if the
homing procedure has not
been completed. The
homing procedure is
aborted automatically. Set
the value to 0 to disable
the time limit.
0 Maximal distance in which
the limit switch must be
reached. Otherwise, the
homing procedure is
aborted with an error. Set
the value to 0 to disable
the distance limit.
BOOL Reference known and set
successfully.
BOOL The function block is not
finished and new output
values are to be expected.
BOOL Command is aborted by
another command.
BOOL An error has occurred
within the function block.
DD_ERROR_ISD51x Error identification and
instance identifier.
See chapter 6.5.2.3 Error
Indication.
MG36D102