999 ) THEN hMoveRelativeEx:=FALSE; hTorqueControlEx:=FALSE; hStopEx:= FALSE; Axis_StepAbsoluteSwitch.Execute:=FALSE; Axis_StepReferencePulse.Execute:=FALSE; Axis_FinishHoming.Execute:=FALSE; END_IF //=============================14.Axis Execute============================ AxisState.vel:=AxisActVel.ActualVelocity; AxisState.Pos:=AxisActPos.Position-AxisData.PositionBias; //AxisState.Pos:=AxisActPos.Position; Axis.ReadStatus(); Axis_Power(Axis:=Axis,Enable:= , Enable_Positive:=TRUE,Enable_Negative :=TRUE,Override:=100.0, Status=>,); Axis_Jog(Axis:=Axis,JogForward :=, JogBackwards :=,Velocity :=AxisData.Vel[31],Acceleration :=,Deceleration :=,Jerk :=,Mode :=MC_JOGMODE_CONTINOUS,Done=>,Busy =>,Active=>,CommandAborted=>,Error=>,ErrorID=>); Axis_Home(Axis:=Axis, Execute:= ,Position:=0-AxisState.Pos,HomingMode:= ,BufferMode:= , Options:= ,bCalibrationCam:= ,Done=> , Busy=>, Active=> ,CommandAborted=> ,Error=> , ErrorID=> ); Axis_TorqueControl(Axis:=Axis,Execute:= , ContinuousUpdate:= , Relative:= , Torque:= , TorqueRamp:= , VelocityLimitHigh:= , VelocityLimitLow:= , BufferMode:= , Options:= , InTorque=> , Busy=> ,Active=> , CommandAborted=> , Error=> , ErrorId=> ); Axis_MoveVelocity(Axis:=Axis,Execute:=,Velocity :=,Acceleration :=,Deceleration :=,Jerk:=,Direction:=,BufferMode:=,Options:=,InVelocity =>,Busy =>,Active =>,CommandAborted=>,Error=>, ErrorID=>); Axis_MoveRelative(Axis:=Axis ,Execute:=, Distance:=, Velocity:=, Acceleration:=, Deceleration:=, Jerk:=, BufferMode:=, Options:=, Done=>,Busy=>,Active=>,CommandAborted=>,Error=>,ErrorID=>); Axis_Stop( Axis:=Axis, Execute:= , Deceleration:= , Jerk:= ,Options:= , Done=> ,Busy=> ,Active=> ,CommandAborted=> ,Error=> , ErrorID=> ); Axis_Reset(Axis:=Axis, Execute:=,Done=>,Busy=>,Error=>,ErrorID=>); Axis_MoveAbsolute( Axis:=Axis,Execute:=,Position:=,Velocity:=,Acceleration:=,Deceleration:=,Jerk:=,BufferMode:=,Options:=,Done=>,Busy=>,Active=>,CommandAborted=>,Error =>, ErrorID=>); AxisActPos(Axis:=Axis ,Enable:= , Valid=> , Busy=> , Error=> , ErrorID=> , Position=> ); AxisActVel(Axis:=Axis , Enable:= , Valid=> , Busy=> , Error=> , ErrorID=> , ActualVelocity=>AxisState.vel ); AxisError(Axis:= Axis,Enable:= , Valid=> ,Busy=> ,Error=> ,ErrorID=> ,AxisErrorID=> ); MCWritePosBiasPersistent(Axis:=Axis, Execute:= , ParameterNumber:=MC_AxisParameter.AxisEncoderOffset,Value:=AxisData.PositionBias,Done=> , Busy=> , Error=> , ErrorID=> ); Axis_StepAbsoluteSwitch.ReferenceSignal.Level:=AxisControl.HomeSW; Axis_StepAbsoluteSwitch.Options.DisableDriveAccess:=TRUE; Axis_StepReferencePulse.Options.DisableDriveAccess:=TRUE; Axis_FinishHoming.Options.DisableDriveAccess:=TRUE; Axis_StepAbsoluteSwitch( Axis:=Axis , Parameter:=mcHomingParameter , Execute:= , Direction:=mcPositiveDirection , SwitchMode:= MCSwitchMode, ReferenceSignal:= , Velocity:=50 , Acceleration:= , Deceleration:= , Jerk:= , SetPosition:= , TimeLimit:= , DistanceLimit:= , TorqueLimit:=100 , PositiveLimitSwitch:= , NegativeLimitSwitch:= , BufferMode:= , Options:= , Done=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> ); Axis_StepReferencePulse( Axis:=Axis , Parameter:=mcHomingParameter , Execute:= , Direction:=mcPositiveDirection , ReferenceSignal:= , Velocity:=100 , Acceleration:= , Deceleration:= , Jerk:= , SetPosition:= , TimeLimit:= , DistanceLimit:= , TorqueLimit:=100 , BufferMode:= , Options:= , Done=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> ); Axis_FinishHoming( Axis:=Axis , Parameter:=mcHomingParameter , Execute:= , Distance:=0-AxisActPos.Position , Velocity:=100 , Acceleration:= , Deceleration:= , Jerk:= , BufferMode:= , Options:= , Done=> , Busy=> , CommandAborted=> , Error=> , ErrorID=> ); ]]>