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MBP-406: Update axis template #28

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Merged
szilard-ess merged 2 commits into from
Aug 25, 2026
Merged

MBP-406: Update axis template #28

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11f6bfa
MBP-406: Update config of position recovery
szilard-ess Jul 24, 2026
a13c6e4
MBP-406: Update config of homing
szilard-ess Jul 24, 2026
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9 changes: 6 additions & 3 deletions solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
GVL.astAxes[cAXIS_ID].stConfig.eHomeSeq := E_HomingRoutines.eNoHoming;
GVL.astAxes[cAXIS_ID].stConfig.fHomePosition := 0.0;
GVL.astAxes[cAXIS_ID].stConfig.fHomeFinishDistance := 0.0;
GVL.astAxes[cAXIS_ID].stConfig.eRestorePosition := E_RestorePosition.eRestoreWithoutHome;
GVL.astAxes[cAXIS_ID].stConfig.bRestorePosition := FALSE;
GVL.astAxes[cAXIS_ID].stConfig.bEnableTemperatureDisable := FALSE;
GVL.astAxes[cAXIS_ID].stConfig.fMaxTemperature := 85.0;
GVL.astAxes[cAXIS_ID].stConfig.bEnableStopWithAnyLimitSwitch := TRUE;
Expand All @@ -39,8 +39,11 @@ IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN

//Add the variables of Advanced homing parameters if you need to chage them
GVL.astAxes[cAXIS_ID].stConfig.stHomingConfig.bDisableDriveAccess := TRUE;
GVL.astAxes[cAXIS_ID].stConfig.stHomingConfig.eLimitSwitchMode := MC_Switch_Mode.mcRisingEdge; //Rising edge: stays on limit switch/Falling edge: bounces off limit switch.
GVL.astAxes[cAXIS_ID].stConfig.stHomingConfig.eRefSwitchMode := MC_Switch_Mode.mcRisingEdge;
GVL.astAxes[cAXIS_ID].stConfig.stHomingConfig.eDetectionMode := E_DetectionMode.eFalling; //Rising edge: stays on limit switch/Falling edge: bounces off limit switch.
GVL.astAxes[cAXIS_ID].stConfig.stHomingConfig.bLimitFwdNormallyClosed := TRUE;
GVL.astAxes[cAXIS_ID].stConfig.stHomingConfig.bLimitBwdNormallyClosed := TRUE;
GVL.astAxes[cAXIS_ID].stConfig.stHomingConfig.bHomeSensorNormallyClosed := FALSE;
GVL.astAxes[cAXIS_ID].stConfig.stHomingConfig.bAbsoluteMoveAtFinishHoming := TRUE;
END_IF
*)

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