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