190 Rockwell Automation Publication 2080-UM002N-EN-E - November 2022
Chapter 9 Motion Control
Monitor an Axis To monitor an axis, the Connected Components Workbench software should be connected to
the controller and in DEBUG mode.
1. On the device configuration page, click Axis Monitor.
2. The Axis Monitor window appears with the following characteristics available for
viewing:
- Axis state
-Axis homed
-Movement
- Error description
- Command position in user unit
- Command velocity in user unit per second
- Target position in user unit
- Target velocity in user unit per second
Homing Function Block The homing function block MC_Home commands the axis to perform the “search home”
sequence. The Position input is used to set the absolute position when the reference signal is
detected, and configured home offset is reached. This function block completes at StandStill if
the homing sequence is successful.
MC_Home only can be aborted by the function blocks MC_Stop or MC_Power. Any abort attempt
from other moving function blocks will result in function block failure with Error ID =
MC_FB_ERR_STATE. However, homing operation is not interrupted, and can be executed as
usual.
If MC_Home is aborted before it completes, the previously searched home position is
considered as invalid, and the axis Homed status is cleared.
After axis power on is done, the axis Homed status is reset to 0 (not homed). On most
scenarios, the MC_Home function block needs to be executed to calibrate the axis position
against the axis home configured after MC_Power (On) is done.
Table 36 on page 190
describes five homing modes supported on Micro830, Micro850, and
Micro870 controllers.
Table 36 - Homing Modes
Homing Mode
Value
Homing Mode Name Homing Mode Description
0x00 MC_HOME_ABS_SWITCH Homing process searches for Home Absolute switch.
0x01 MC_HOME_LIMIT_SWITCH Homing process searches for limit switch.
0x02 MC_HOME_REF_WITH_ABS
Homing process searches for Home Absolute switch plus
using encoder reference pulse.
0x03 MC_HOME_REF_PULSE
Homing process searches for limit switch plus using
encoder reference pulse.
0x04 MC_HOME_DIRECT
Static homing process with direct forcing a home position
from user reference. The function block will set current
position the mechanism is in as home position, with its
position determined by the input parameter, “Position”.
IMPORTANT If axis is powered On with only one direction enabled, the MC_Home
function block (in modes 0, 1, 2, 3) will generate an error and only
MC_Home function block (mode 4) can be executed. See MC_Power
function block for more details.
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