The remaining advanced homing steps and finishing routines need to be added and the existing ones cleaned up:
MC_FinishHoming
MC_HomeDirect
MC_AbortHoming
MC_StepAbsoluteSwitch
MC_StepBlock
MC_StepBlockLagBased
MC_StepLimitSwitch
MC_StepReferencePulse
Part of this will involve adding additional objects to the ST_AxisControl data structure.
On completion of adding these functions a generic method or action needs to be added to the MAIN POU that provides default homing routines using these advanced steps and finishing moves. This should be setup so that an axis can be called alongside a chosen homing routine so axes on a system can all have differing homing routines. It may be beneficial to create some additional homing related DUTs that hold calibration data or offsets for each axis. Needs to be discussed in further detail.
The remaining advanced homing steps and finishing routines need to be added and the existing ones cleaned up:
Part of this will involve adding additional objects to the ST_AxisControl data structure.
On completion of adding these functions a generic method or action needs to be added to the MAIN POU that provides default homing routines using these advanced steps and finishing moves. This should be setup so that an axis can be called alongside a chosen homing routine so axes on a system can all have differing homing routines. It may be beneficial to create some additional homing related DUTs that hold calibration data or offsets for each axis. Needs to be discussed in further detail.