Yaskawa MotionWorks IEC Toolboxes - Manual (Page 449)

PLCopen Toolbox: Function Blocks
MotionWorks IEC61131-3 Toolboxes: 2013-09-13 436
an input, change the value and re-
trigger the execute input.
B Direction MC_Direction Direction of travel for homing
B SwitchMode MC_SwitchMode
Edge On is the only mode
supported
B TorqueLimit LREAL
Torque limit while attempting
homing. In percentage of rated
torque of the servo
B ApproachVelocity LREAL
Velocity used to approach limit
switch or c channel
B ApproachTimeLimit LREAL
Time limit for the homing attempt.
In seconds
B ApproachDistanceLimit LREAL
Distance limit for the homing
attempt
B AccDec LREAL
Acceleration/deceleration for offset
moves.
B LimitBackOffDistance LREAL
Distance limit for back off after a
limit switch is encountered
B CreepVelocity LREAL Velocity to creep to C channel
B CreepTimeLimit LREAL
Time limit for the creep attempt. In
seconds
B CreepDistanceLimit LREAL Distance limit for the creep attempt
B Offset LREAL
Offset distance to move after limit
switch or C channel
B OffsetVelocity LREAL
Velocity of the offset move after
limit switch or C channel
B Position HomeStruct
Position to be defined as the home
position
All zeros
in
structure
VAR_OUTPUT
B Valid BOOL
Set high if the function block is active and there
are no errors
B Error BOOL
Set high if error has occurred during the execution
of the function block. This output is cleared when
'Execute' or 'Enable' goes low.
E ErrorID UINT
If Error is true, this output provides the Error ID.
This output is reset when 'Execute' or 'Enable'
goes low.
Error Description
No Errors will be generated.