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Fixed AxisPTP homing position error

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