Delta AX Series Instruction Manual page 281

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
bExecute
bDone
bBusy
bCommandAborted
bError
Inputs/Outputs

Name Function
Specify the
Axis
axis.
*Note: AXIS_REF_SM3(FB): All function blocks for an axis group contain this variable, which works as the starting program for
function blocks.
Function

This function is available for DL_MotionControl V1.2.0.0 or later.

This function block is only available when the axis state is standstill. If run in other states, there will be errors.

DMC_Home_E supports a variety of homing modes defined in CiA 402. For more information on homing modes, see

the Appendix.
bSignalLSP (positive limit signal), bSignalLSN (negative limit signal), bSignalDOG (DOG signal), bSignalZ (Z signal)

signals, controlled by function block input, can be used with DIO to map function block input.
wSearchSwitchSpeed (first-phase speed), wSearchZeroSpeed (second-phase speed), wHomeAcceleration (homing

acceleration) units are based on that defined in lower drivers.
If using bSignalZ, pay attention to the EtherCAT Task cycle time and signal response time. For example, if the

EtherCAT Task cycle is 2ms, but the Z signal only maintained 1ms as ON, DMC_Home_E cannot capture the signal
source response.
Troubleshooting

When an error occurs during the execution of instructions or the axis group enters "Errorstop" state, bError changes

to True and the axes stops running. To confirm the current error state, see the error code in ErrorID.
Example

This example shows how to use DMC_Home_E to run homing motion of upper computer.

The homing related signal can be set by DIO and program variables to map the inputs to DMC_Home_E.

Input MC_Power and DMC_Home_E input (Axis), as shown in the following figure, when the axis status is standstill,

then start this function block, the homing motion is run as set, at which time the state will switch from standstill to
Homing.
DOG Signal Hardware Configuration

Data Type
AXIS_REF_SM3*
Setting Value
When bEnable turns to True and
AXIS_REF_SM3
bBusy is False
Ch a p t er 2
Timing to Take Effect
2 7 6