Fixed AxisPTP homing position error

2026-03-20 11:47:56 +01:00
parent 8f93e0f076
commit 33e2b96d48
2 changed files with 3 additions and 1 deletions
--- a/BasicComponents.library
+++ b/BasicComponents.library
--- a/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
+++ b/BasicComponents/Components/AxisPTP/POUs/FB_AxisPTP.TcPOU
@@ -62,7 +62,7 @@ VAR
 	
 	_lrTargetPosition : LREAL;
 	_lrRelativeDistance : LREAL;
-	_lrHomingPos : LREAL;
+	_lrHomingPos : LREAL := Tc2_MC2.DEFAULT_HOME_POSITION;
 	_eHomingMode : MC_HomingMode := MC_HomingMode.MC_DefaultHoming;
 	_xCalibrationCam : BOOL;
 	
@@ -424,6 +424,8 @@ END_IF

 CASE _eState OF
 	E_AXIS_PTP_STATE.IDLE:
+		_lrHomingPos := lrHomingPosition;
+		_eHomingMode := eHomingMode;
 		_eState := E_AXIS_PTP_STATE.START_HOMING;
 		
 		xBusy := TRUE;