Yaskawa MotionWorks IEC Toolboxes - Manual (Page 272)

Gantry Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 259
Gantry_Home
This function block will move all gantry axes in search of home by first seeking one of the limit switches, and
then searching in the other direction for the C channel or index pulse. This block uses the
Home_LS_Pulse
function block from the PLCopen Toolbox . If configured, the Z axis will search for home first, then the X and Y
axes will search simultaneously. This sequence was designed to prevent mechanical interferences with objects
in the work coordinate system during the homing process.
Parameters
* Parameter Data Type Description
VAR_IN_OUT
V Gantry GantryStruct Contains all information pertaining to a gantry system.
VAR_INPUT Default
B Execute BOOL
Upon the rising edge, all other function block
inputs are read and the function is initiated.
To modify an input, change the value and re-
trigger the execute input.
FALSE
VAR_OUTPUT
B Done BOOL
Set high when the commanded action has been completed
successfully. If another block takes control before the
action is completed, the Done output will not be set. This
output is reset when execute goes low.
B Busy BOOL
Set high upon the rising edge of the 'Execute' or 'Enable'
input, and reset if Done, CommandAborted, or Error is
true.
B CommandAborted BOOL
Set high if motion is aborted by another motion command
or MC_Stop. This output is cleared with the same behavior
as the Done output.