4. Motion Control Instructions 4.4.7. MC_PassiveHome MC_PassiveHome controls the servo motor to perform the homing action in mode and at the velocity that axis parameter gives. The homing mode and velocity are set in the interface of axis parameters setting. Explanation of the Instruction: Explanation of input and output parameter of the instruction: Notes: 1. MC_PassiveHome is a special instruction and the servo inputs may need to connect home signals and limit signals according to the homing mode selected. 2. While MC_PassiveHome instruction is being executed, “Execute”: rising edge occurs, which does not impact the execution of the instruction. 3.
When the deceleration of the instruction is read via human machine interface, its value type must be set as Double Word (Floating). 4. Position parameter defines the offset between the mechanical zero point and servo zero point as the figure below: 4-36 DVP-MC operating manual API Homing instruction Controller 07 MC PassiveHome _ 10MC11T Parameter Data Available Explanation name type device Axis The node address of servo drive UINT Constant, D Execute This instruction is executed when “Execute” turns Off –> On. BOOL M,I,Q, Constant Position Servo home position offset, unit: Pulse. The setting value and the actual home offset value are opposite.
For example, if the actual home position offset is 50, Position should be set to -50. REAL Constant, D Deceleration Deceleration of servo drive and this parameter is always positive.(Unit: Pulse/second2) REAL Constant, D Done “Done” turns on after homing is over; “Done” bit is reset as “Execute” turns off. BOOL M,Q Error If any error is detected, "Error" turns on; when "Execute" turns off, "Error" is reset. BOOL M,Q ErrorID Error code. See section 5.3. UINT D