Data type: homestruct, Data type declaration, Homestruct – Yaskawa MotionWorks IEC Toolboxes User Manual

Page 408

PLCopen Toolbox: DataTypes

MotionWorks IEC61131-3 Toolboxes: 2013-09-13

395

Data Type: HomeStruct

For use with all HOME_*** function blocks.

Data Type Declaration

TYPE

HomeStruct: STRUCT

Direction:INT;

(* Used in conjunction with MC_StepLimit Function Block *)

SwitchMode:INT;

(* Configuration for action of the home sensor. [See MC_SwitchMode] *)

TorqueLimit:LREAL;

(* Default if unused [ZERO] is 100.00% of rated torque *)

ApproachVelocity:LREAL;

ApproachTimeLimit:LREAL;

(* In seconds *)

ApproachDistanceLimit:LREAL;

AccDec:LREAL;

CreepVelocity:LREAL;

CreepTimeLimit:LREAL;

(* In seconds *)

CreepDistanceLimit:LREAL;

Offset:LREAL;

(* Position offset to MOVE after finding the last input device

(sensor of C channel) *)

OffsetVelocity:LREAL;

Position:LREAL;

(* This is the location that will be defined when all homing

actions are complete, including the offset move. *)

Homed:BOOL;

(* Flag to indicate that the axis was successfully homed *)

END_STRUCT;

END_TYPE