Type:

Function Block

Available as of:

V1.0.6.0

Inherits from:

-

Implements:

-

Homing to Touchprobe input (sensor)

PosDirectionPosEdgeTp

NegDirectionPosEdgeTp

NegDirectionNegEdgeTp

PosDirectionNegEdgeTp

stTouchProbe

The Touchprobe sensor is unambiguously assigned in the i_ifTouchProbe structure element

FB_HomeTp

Homing to digital signal (digital sensor input or BOOL expression)

PosDirectionPosEdgeSensor

NegDirectionPosEdgeSensor

NegDirectionNegEdgeSensor

PosDirectionNegEdgeSensor

stSensor

The state of the sensor must be copied cyclically on the i_xSensor structure element

FB_HomeIn

Homing to hardware limit switch (digital sensor input or BOOL expression)

PosDirectionPosEdgeHWLimitPos

NegDirectionPosEdgeHWLimitNeg

NegDirectionNegEdgeHWLimitNeg

PosDirectionNegEdgeHWLimitPos

stLimitSwitch

The states of the hardware limit switches are read in via the i_xHwLimitNeg and the i_xHwLimitPos function block inputs.

FB_HomeLimitSwitch

Homing to torque

PosDirectionMaxTorque

NegDirectionMaxTorque

stTorque

FB_HomeTorque

Moving to absolute position (absolute or within a machine period)

MoveOnPosAbs

stMoveOnPos

FB_VarioPosJerk

Setting the axis position

SetPosAxisPosition

stSetPos

FB_HomeSetPos

Setting the encoder position

SetPosLogEncoderPosition

stSetPos

The logical encoder is assigned once in the iq_lencAxis structure element.

FB_HomeSetPos

Setting the axis and encoder position

SetPosAxisAndLogEncoderPosition

stSetPos

The logical encoder is assigned once in the iq_lencAxis structure element.

FB_HomeSetPos

Restoration of the axis position from the retain

RestorePosFromRetain

stSetPos

Due to security during the online change, the pointer to the retain structure must be updated constantly to the iq_pstRestorePosRetain variable.

FB_HomeSetPos

Restoration of the axis position from the axis encoder value

RestorePosFromAxisEncoder

stSetPos

FB_HomeSetPos

Writing of the axis encoder in connection with setting the axis position

WriteAxisEncoder

stWritePos

FB_HomeAbs

i_xEnable

BOOL

A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU.

A deactivated POU does not execute any actions.

i_etMode

ET_HomeMode

Selection of the homing procedure

i_ifDrive

IF_Drive

Input for the axis that shall be controlled.

i_xHwLimitNeg

BOOL

Limit switch for the negative direction of motion of the axis.

Depending on the used basic function block and ET_HomeMode, the limit switch is considered used in the state TRUE (..PosEdge..) or FALSE (..NegEdge..).

The input is not evaluated for the above-mentioned homing procedures if the following basic function blocks are used within them: FB_HomeSetPos and FB_HomeAbs

i_xHwLimitPos

BOOL

Limit switch for the positive direction of motion of the axis.

Depending on the used basic function block and ET_HomeMode, the limit switch is considered used in the state TRUE (..PosEdge..) or FALSE (..NegEdge..).

The input is not evaluated for the above-mentioned homing procedures if the following basic function blocks are used within them: FB_HomeSetPos and FB_HomeAbs

i_xStart

BOOL

TRUE: start of homing procedure.

As soon as the q_xMotionInstructionActive output reports TRUE, the homing procedure can no longer be stopped by changing i_xStart to FALSE.

q_xActive

BOOL

TRUE: The POU is active and has to be executed further.

FALSE: The POU is inactive.

q_xReady

BOOL

TRUE: The POU is ready to operate and can accept user commands.

FALSE: The POU is not ready to accept user commands.

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal to ET_Diag.Ok corresponds to an diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message which gives more detailed information on the diagnostic state.

q_xDisableDrive

BOOL

TRUE: Requirement to disable position control

FALSE: Requirement to enable position control

q_xMotionInstructionActive

BOOL

TRUE: The axis is processing a motion command. The output is also set if the motion command defines that the axis is at stand still, e.g. due to a standing master.

q_lrPosition

LREAL

Axis.RefPosition of the axis

q_lrEncoderPosition

LREAL

Position of the logical encoder specified via the stSetPos property in the corresponding ST_HomeSetPos.iq_lencAxis structure variables

If no logical encoder has been parameterized yet, the output provides the value 0.

q_xHomeOk

BOOL

TRUE: Axis is homed

for i_xEnable = FALSE, this output is reset to FALSE

OK

Disabled

9

The POU is disabled.

OK

HomingDone

222

Homing has been performed.

OK

WaitForStart

5

Waiting for starting command.

OK

WaitUntilDisabled

8

Waiting until the POU is deactivated.

OK

WaitUntilHomingDone

265

Wait until the homing is completed.

ControllerConditionInvalid

ControllerInvalid

100

The controller is not supported.

ControllerConditionInvalid

SercosInterfaceInvalid

262

The G_ifSercos interface is invalid.

DriveConditionInvalid

DriveEncoderInvalid

175

The drive encoder is invalid.

DriveConditionInvalid

DriveIsMoving

182

The drive is moving.

DriveConditionInvalid

DriveNotDisabled

183

The drive is not disabled.

DriveConditionInvalid

DriveNotReady

10

The drive is not ready for motion commands.

DriveConditionInvalid

NoAccessToEEPROM

187

The EEPROM of the drive cannot be accessed.

DriveConditionInvalid

ProgrammingInProgress

189

Writing is being performed on the encoder.

DriveConditionInvalid

ProgrammingInvalidEEPROM

186

An error has been detected while writing on the encoder EEPROM.

DriveConditionInvalid

RestoreInterrupted

196

Restoring was interrupted.

HomingFailed

HwLimitNegStillActive

275

HwLimitNeg is still active.

HomingFailed

HwLimitPosStillActive

276

HwLimitPos is still active.

HomingFailed

MaxTorqueNotFound

228

MaxTorque has not been reached.

HomingFailed

SensorNotFound

220

No sensor signal was found.

HomingFailed

TouchProbeNotFound

231

No Touchprobe was found.

InputParameterInvalid

AbsEncOffsetRange

178

AbsEncOffset is outside the valid range.

InputParameterInvalid

AccRange

12

Acc is outside the valid range.

InputParameterInvalid

CheckSumInvalid

193

The checksum is invalid.

InputParameterInvalid

DataNVRamInvalid

194

The non-volatile memory (NVRam) does not contain any more valid data.

InputParameterInvalid

DecRange

13

Dec is outside the valid range.

InputParameterInvalid

DriveInvalid

3

The connected drive is invalid.

InputParameterInvalid

JerkRange

14

Jerk is outside the valid range.

InputParameterInvalid

LencInvalid

162

The connected logical encoder is invalid.

InputParameterInvalid

LowVelRange

226

LowVel is outside the valid range.

InputParameterInvalid

MaxTorqueRange

229

MaxTorque is outside the valid range.

InputParameterInvalid

MaxTravelRange

215

MaxTravel is outside the valid range.

InputParameterInvalid

PointerRestorePosRetainInvalid

264

The RestorePosRetain pointer is invalid.

InputParameterInvalid

ReducedVelocityFactorRange

300

ReducedVelocityFactor is outside the valid range.

InputParameterInvalid

ReducedVelocityRange

299

ReducedVelocity is outside the valid range.

InputParameterInvalid

TouchProbeInvalid

163

The connected Touchprobe is invalid.

InputParameterInvalid

TouchProbeNotActive

166

The Touchprobe is not active.

InputParameterInvalid

TouchProbeVirtual

165

The connected Touchprobe is virtual.

InputParameterInvalid

UnknownMode

111

The Mode is indeterminable.

InputParameterInvalid

UserPeriodRange

177

UserPeriod is outside the valid range.

InputParameterInvalid

VelRange

11

Vel is outside the valid range.

LimitReached

HwLimitNegReached

219

Negative limit switch has been reached.

LimitReached

HwLimitPosReached

221

Positive limit switch has been reached.

LimitReached

ReducedVelocityLimit

277

ReducedVelocityLimit has been exceeded.

SercosConditionInvalid

SercosNotInPhaseFour

19

The Sercos bus is not in phase 4.

UnexpectedProgramBehavior

EncoderWriteTimeOut

185

Timeout during encoder writing.

UnexpectedProgramBehavior

OutOfRestoreWindow

195

The position is outside the restore window.

UnexpectedProgramBehavior

UnexpectedFeedback

1

An unintended detected error occurred during execution.

UnexpectedProgramBehavior

UnknownMode

111

The Mode is indeterminable.

UnexpectedProgramBehavior

UnknownState

2

The POU is in an undefined state.

Enumeration name:

AbsEncOffsetRange

Enumeration value:

178

Description:

AbsEncOffset is outside the valid range.

-

A number <= 0 or bigger than the encoder period was transferred to the i_lrAbsEncOffset parameter with the stSetPos property of the FB_Home.

For i_lrAbsEncOffset, the following must hold: 0 < i_lrAbsEncOffset < maximum possible value of Drive.EncoderPosition.

For the permissible value range for i_lrAbsEncOffset, also refer to q_sMsg output.

Enumeration name:

AccRange

Enumeration value:

12

Description:

Acc is outside the valid range.

-

An invalid value was transferred to the i_lrAcc parameter of the stTouchProbe property of FB_Home.

The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive.

For the permissible value range for i_lrAcc, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrAcc parameter of the stSensor property of FB_Home.

The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive.

For the permissible value range for i_lrAcc, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrAcc parameter of the stLimitSwitch property of FB_Home.

The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive.

For the permissible value range for i_lrAcc, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrAcc parameter of the stTorque property of FB_Home.

The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive.

For the permissible value range for i_lrAcc, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrAcc parameter of the stMoveOnPos property of FB_Home.

The following must apply: 0 < i_lrAcc < MaxAcc parameter of the drive.

For the permissible value range for i_lrAcc, also refer to q_sMsg output.

Enumeration name:

CheckSumInvalid

Enumeration value:

193

Description:

The checksum is invalid.

-

The data saved in iq_pstRestorePosRetain of the stSetPos property of the FB_Home are not consistent. The position cannot be restored.

Homing of the drive is again required.

Enumeration name:

ControllerInvalid

Enumeration value:

100

Description:

The controller is not supported.

-

The controller does not provide the required conditions.

For more details, see q_sMsg output.

Enumeration name:

DataNVRamInvalid

Enumeration value:

194

Description:

The non-volatile memory (NVRam) does not contain any more valid data.

-

The data saved in the NVRam are invalid. Therefore, the position cannot be restored from iq_pstRestorePosRetain of the stSetPos property of FB_Home.

For more details, see q_sMsg output.

Enumeration name:

DecRange

Enumeration value:

13

Description:

Dec is outside the valid range.

-

An invalid value was transferred to the i_lrDec parameter of the stTouchProbe property of FB_Home.

The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.

For the permissible value range for i_lrDec, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrDec parameter of the stSensor property of FB_Home.

The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.

For the permissible value range for i_lrDec, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrDec parameter of the stLimitSwitch property of FB_Home.

The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.

For the permissible value range for i_lrDec, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrDec parameter of the stTorque property of FB_Home.

The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.

For the permissible value range for i_lrDec, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrDec parameter of the stMoveOnPos property of FB_Home.

The following must apply: 0 < i_lrDec < MaxAcc parameter of the drive.

For the permissible value range for i_lrDec, also refer to q_sMsg output.

Enumeration name:

Disabled

Enumeration value:

9

Description:

The POU is disabled.

Enumeration name:

DriveEncoderInvalid

Enumeration value:

175

Description:

The drive encoder is invalid.

-

The axis encoder is not supported.

The EncoderRange parameter of the axis must be greater than 0.

If necessary, use an axis with a different encoder type.

Enumeration name:

DriveInvalid

Enumeration value:

3

Description:

The connected drive is invalid.

-

No valid drive was applied at the i_ifDrive input.

A valid drive must be transferred to the i_ifDrive input.

-

The connected drive does not support all required functionalities.

Establish which functionalities are not supported by the drive by means of the q_sMsg output.

Use a drive that supports all required functionalities.

Enumeration name:

DriveIsMoving

Enumeration value:

182

Description:

The drive is moving.

-

The axis is moving.

To write the encoder of the axis the axis must be at standstill. Verify the state of the axis.

Enumeration name:

DriveNotDisabled

Enumeration value:

183

Description:

The drive is not disabled.

-

The axis is not in AxisState 1

To write the encoder of the axis the axis must be in AxisState 1. Verify the state of the axis.

Enumeration name:

DriveNotReady

Enumeration value:

10

Description:

The drive is not ready for motion commands.

-

The axis is not in position control.

Verify the state of the axis.

Enumeration name:

EncoderWriteTimeOut

Enumeration value:

185

Description:

Timeout during encoder writing.

-

The encoder writing process has taken too long.

Verify the connection to the encoder and retry.

Enumeration name:

HomingDone

Enumeration value:

222

Description:

Homing has been performed.

Enumeration name:

HwLimitNegReached

Enumeration value:

219

Description:

Negative limit switch has been reached.

-

The negative hardware limit switch has been found when searching for the reference signal.

Verify the signal at the input i_xHwLimitNeg.

Ensure that the sensor of the negative limit switch is not dirty.

Enumeration name:

HwLimitNegStillActive

Enumeration value:

275

Description:

HwLimitNeg is still active.

-

The negative limit switch (i_xHwLimitNeg = TRUE) is still enabled. However, a Touchprobe signal has been detected or the maximum travel distance (i_lrMaxTravel of the stTouchProbe property of FB_Home) has been reached.

Verify the signal at the input i_xHwLimitNeg.

Verify the value for the maximum travel distance i_lrMaxTravel of the stTouchProbe property.

Ensure that the sensor of the negative limit switch is not dirty.

-

The negative limit switch (i_xHwLimitNeg = TRUE) is still enabled. However, a sensor signal has been detected or the maximum travel distance (lrMaxTravel of the stSensor property of FB_Home) has been reached.

Verify the signal at the input i_xHwLimitNeg.

Verify the value for the maximum travel distance at the i_lrMaxTravel input of the stSensor property.

Ensure that the sensor of the negative limit switch is not dirty.

Enumeration name:

HwLimitPosReached

Enumeration value:

221

Description:

Positive limit switch has been reached.

-

The positive hardware limit switch has been found when searching for the reference signal.

Verify the signal at the input i_xHwLimitPos.

Ensure that the sensor of the positive limit switch is not dirty.

Enumeration name:

HwLimitPosStillActive

Enumeration value:

276

Description:

HwLimitPos is still active.

-

The positive limit switch (i_xHwLimitPos = TRUE) is still enabled. However, a Touchprobe signal has been detected or the maximum travel distance (i_lrMaxTravel of the stTouchProbe property of FB_Home) has been reached.

Verify the signal at the input i_xHwLimitPos.

Verify the value for the maximum travel distance i_lrMaxTravel of the stTouchProbe property.

Ensure that the sensor of the positive limit switch is not dirty.

-

The positive limit switch (i_xHwLimitPos = TRUE) is still enabled. However, a sensor signal has been detected or the maximum travel distance (i_lrMaxTravel of the stSensor property of FB_Home) has been reached.

Verify the signal at the input i_xHwLimitPos.

Verify the value for the maximum travel distance at the i_lrMaxTravel input of the stSensor property.

Ensure that the sensor of the positive limit switch is not dirty.

Enumeration name:

JerkRange

Enumeration value:

14

Description:

Jerk is outside the valid range.

-

An invalid value was transferred to the i_lrJerk parameter of the stTouchProbe property of FB_Home.

The following must apply: 0 < i_lrJerk <= Gc_lrMaxJerk of the drive.

For the permissible value range for i_lrJerk, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrJerk parameter of the stSensor property of FB_Home.

The following must apply: 0 < i_lrJerk <= Gc_lrMaxJerk of the drive.

For the permissible value range for i_lrJerk, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrJerk parameter of the stLimitSwitch property of FB_Home.

The following must apply: 0 < i_lrJerk <= Gc_lrMaxJerk of the drive.

For the permissible value range for i_lrJerk, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrJerk parameter of the stTorque property of FB_Home.

The following must apply: 0 < i_lrJerk <= Gc_lrMaxJerk of the drive.

For the permissible value range for i_lrJerk, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrJerk parameter of the stMoveOnPos property of FB_Home.

The following must apply: 0 < i_lrJerk <= Gc_lrMaxJerk of the drive.

For the permissible value range for i_lrJerk, also refer to q_sMsg output.

Enumeration name:

LencInvalid

Enumeration value:

162

Description:

The connected logical encoder is invalid.

-

No valid logical encoder was transferred to the iq_lencAxis parameter of the stSetPos property of FB_Home.

An own logical encoder of the PLC configuration must be transferred to the iq_lencAxis parameter.

Enumeration name:

LowVelRange

Enumeration value:

226

Description:

LowVel is outside the valid range.

-

An invalid value was transferred to the i_lrLowVel parameter of the stLimitSwitch property of FB_Home.

The following must apply: 0 < i_lrLowVel <= MaxVel parameter of the drive.

For the permissible value range for i_lrLowVel, also refer to q_sMsg output.

Enumeration name:

MaxTorqueNotFound

Enumeration value:

228

Description:

MaxTorque has not been reached.

-

The stop was not found.

Verify the state of the limit stop.

Verify the i_lrMaxTorque input.

Verify the i_lrMaxTravel input.

Verify the state of the axis.

Enumeration name:

MaxTorqueRange

Enumeration value:

229

Description:

MaxTorque is outside the valid range.

-

An invalid value was transferred to the i_lrMaxTorque parameter of the stTorque property of FB_Home.

The following must apply: 0.0 < (i_lrMaxTorque / lrTorqueConstant * 10000000.0 / lrMaxDrivePeakCurrent / lrLimCurrent) < 100.0

with lrLimCurrent := lrUserDrivePeakCurrent * 100.0 / lrMaxDrivePeakCurrent

where lrTorqueConstant, lrMaxDrivePeakCurrent and lrUserDrivePeakCurrent are parameters of the axis.

Enumeration name:

MaxTravelRange

Enumeration value:

215

Description:

MaxTravel is outside the valid range.

-

An invalid value was transferred to the i_lrMaxTravel parameter of the stSetPos property of FB_Home.

The following must apply: 0 < i_lrMaxTravel.

For the permissible value range for i_lrMaxTravel, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrMaxTravel parameter of the stSensor property of FB_Home.

The following must apply: 0 < i_lrMaxTravel.

For the permissible value range for i_lrMaxTravel, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrMaxTravel parameter of the stLimitSwitch property of FB_Home.

The following must apply: 0 < i_lrMaxTravel.

For the permissible value range for i_lrMaxTravel, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrMaxTravel parameter of the stTorque property of FB_Home.

The following must apply: 0 < i_lrMaxTravel.

For the permissible value range for i_lrMaxTravel, also refer to q_sMsg output.

Enumeration name:

NoAccessToEEPROM

Enumeration value:

187

Description:

The EEPROM of the drive cannot be accessed.

-

The access to the encoder has been denied.

Verify the encoder of the axis.

Verify the axis state.

Enumeration name:

OutOfRestoreWindow

Enumeration value:

195

Description:

The position is outside the restore window.

-

The axis has been moved too far since the last time the position has been saved.

Push the axis position back into the window.

Extend the limits of the i_lrRestoreWindow window (stSetPos property of FB_Home).

Enumeration name:

PointerRestorePosRetainInvalid

Enumeration value:

264

Description:

The RestorePosRetain pointer is invalid.

-

An invalid pointer was transferred to the iq_pstRestorePosRetain parameter of the stSetPos property of FB_Home.

The memory address that contains the structure in which the axis positions are saved must be transferred to the iq_pstRestorePosRetain parameter.

Enumeration name:

ProgrammingInProgress

Enumeration value:

189

Description:

Writing is being performed on the encoder.

Enumeration name:

ProgrammingInvalidEEPROM

Enumeration value:

186

Description:

An error has been detected while writing on the encoder EEPROM.

-

Writing is already being performed on the encoder.

Please retry later.

Enumeration name:

ReducedVelocityFactorRange

Enumeration value:

300

Description:

ReducedVelocityFactor is outside the valid range.

-

The i_xEnableReducedVelocity parameter of the stReducedVelocity property of FB_Home is TRUE.

An invalid value was transferred to the i_lrReducedVelocityCheckFactor input of the stReducedVelocity property.

A value greater than or equal to 1.0 must be transferred to the i_lrReducedVelocityCheckFactor input of the stReducedVelocity property.

Enumeration name:

ReducedVelocityLimit

Enumeration value:

277

Description:

ReducedVelocityLimit has been exceeded.

-

The i_xEnableReducedVelocity parameter of the stReducedVelocity property of FB_Home is TRUE.

The MechVelocity of the axis is greater than stReducedVelocity.i_lrMaxReducedVelocity * stReducedVelocity.i_lrReducedVelocityCheckFactor

Verify the motion parameters of the selected mode and/or change the values stReducedVelocity.i_lrMaxReducedVelocity or stReducedVelocity.i_lrReducedVelocityCheckFactor.

Enumeration name:

ReducedVelocityRange

Enumeration value:

299

Description:

ReducedVelocity is outside the valid range.

-

The i_xEnableReducedVelocity parameter of the stReducedVelocity property of FB_Home is TRUE.

An invalid value was transferred to the i_lrMaxReducedVelocity input of the stReducedVelocity property.

A value greater than 0 must be transferred to the i_lrMaxReducedVelocity input of the stReducedVelocity property.

Enumeration name:

RestoreInterrupted

Enumeration value:

196

Description:

Restoring was interrupted.

-

Reading the encoder has been interrupted repeatedly by the SERCOS.

Ensure that the execution of FB_Home is not interrupted for too long by other tasks, so that the function is interrupted only once by the SERCOS task.

Enumeration name:

SensorNotFound

Enumeration value:

220

Description:

No sensor signal was found.

-

The sensor signal is not transmitted to the function block.

Ensure that the signal has been applied at the i_xSensor variable of the stSensor of FB_Home.

-

The sensor does not transmit a signal.

Verify the power supply of the sensor.

Ensure that the sensor is not dirty.

Ensure that the sensor can be triggered by the mechanical system.

Verify the electrical connection of the sensor and of the digital input.

-

The sensor signal is not transmitted to the function block.

Verify the sensor signal at the i_xHwLimitNeg or i_xHwLimitPos input of the FB_Home.

-

The sensor does not transmit a signal.

Verify the power supply of the sensor.

Ensure that the sensor is not dirty.

Ensure that the sensor can be triggered by the mechanical system.

Verify the electrical connection of the sensor and of the digital input.

Enumeration name:

SercosInterfaceInvalid

Enumeration value:

262

Description:

The G_ifSercos interface is invalid.

-

The global Sercos interface G_ifSercos is invalid.

Ensure that the Sercos interface G_ifSercos outside the function block is not accidentally overwritten with 0.

Enumeration name:

SercosNotInPhaseFour

Enumeration value:

19

Description:

The Sercos bus is not in phase 4.

-

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

Enumeration name:

TouchProbeInvalid

Enumeration value:

163

Description:

The connected Touchprobe is invalid.

-

The i_ifTouchProbe parameter of the stTouchProbe property of FB_Home is not linked to a valid Touchprobe.

Ensure that a Touchprobe object was transferred to the i_ifTouchProbe parameter.

Enumeration name:

TouchProbeNotActive

Enumeration value:

166

Description:

The Touchprobe is not active.

-

The Touchprobe transferred to the i_ifTouchProbe parameter of the stTouchProbe property of FB_Home is not enabled.

For instance, this is an input at a Lexium62.

Ensure that the parameter IOx_Mode of the input group (LXM62IO_InOutTP) has been set to Touchprobe / 1.

Enumeration name:

TouchProbeNotFound

Enumeration value:

231

Description:

No Touchprobe was found.

-

The Touchprobe sensor does not transmit a signal.

Verify the power supply of the Touchprobe sensor.

Ensure that the Touchprobe sensor is not dirty.

Ensure that the Touchprobe can be triggered by the mechanical system.

Verify the electrical connection of the Touchprobe sensor and of the Touchprobe input.

Enumeration name:

TouchProbeVirtual

Enumeration value:

165

Description:

The connected Touchprobe is virtual.

-

The used touchprobe is not real.

Ensure that the Touchprobe does not belong to a virtual device. (e.g. virtual Lexium62)

Enumeration name:

UnexpectedFeedback

Enumeration value:

1

Description:

An unintended detected error occurred during execution.

-

An internal execution error occurred.

Please inform the support team about this detected error.

Enumeration name:

UnknownMode

Enumeration value:

111

Description:

The Mode is indeterminable.

-

At the input i_etMode, an invalid value has been applied.

The i_etMode input must be allocated with an element of the ET_HomeMode enumeration.

Enumeration name:

UnknownState

Enumeration value:

2

Description:

The POU is in an undefined state.

-

An internal execution error has been detected.

Please inform your Schneider Electric representative about this detected error.

Enumeration name:

UserPeriodRange

Enumeration value:

177

Description:

UserPeriod is outside the valid range.

-

An invalid value was transferred to the i_lrUserPeriod parameter of the stSetPos property of FB_Home.

The following must apply: 0 <= i_lrUserPeriod

-

The value of the i_lrUserPeriod parameter of the stSetPos property of FB_Home does not fit into the encoder period.

Assign zero to the i_lrUserPeriod parameter if an offset is not to be considered.

The i_lrUserPeriod parameter must be chosen such that the following formula is fulfilled:

ABS(lrEncoderPeriode / i_lrUserPeriod - TRUNC_INT(lrEncoderPeriode / i_lrUserPeriod)) = 0

with lrEncoderPeriode := EncoderRange * FeedConstant * DINT_TO_LREAL(GearIn) / DINT_TO_LREAL(GearOut)

EncoderRange, FeedConstant, GearIn and GearOut are parameters of the axis.

-

An invalid value was transferred to the i_lrUserPeriod parameter of the stWritePos property of FB_Home.

The following must apply: 0 <= i_lrUserPeriod

-

The value of the parameter i_lrUserPeriod of the stWrite property of FB_Home does not fit into the encoder period.

Assign zero to the i_lrUserPeriod parameter if an offset is not to be considered.

The i_lrUserPeriod parameter must be chosen such that the following formula is fulfilled:

ABS(lrEncoderPeriode / i_lrUserPeriod - TRUNC_INT(lrEncoderPeriode / i_lrUserPeriod)) = 0

with lrEncoderPeriode := EncoderRange * FeedConstant * DINT_TO_LREAL(GearIn) / DINT_TO_LREAL(GearOut)

EncoderRange, FeedConstant, GearIn and GearOut are parameters of the axis.

Enumeration name:

VelRange

Enumeration value:

11

Description:

Vel is outside the valid range.

-

An invalid value was transferred to the i_lrVel parameter of the stTouchProbe property of FB_Home.

The following must apply: 0 < i_lrVel <= MaxVel of the drive.

For the permissible value range for i_lrVel, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrVel parameter of the stSensor property of FB_Home.

The following must apply: 0 < i_lrVel <= MaxVel of the drive.

For the permissible value range for i_lrVel, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrVel parameter of the stLimitSwitch property of FB_Home.

The following must apply: 0 < i_lrVel <= MaxVel of the drive.

For the permissible value range for i_lrVel, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrVel parameter of the stTorque property of FB_Home.

The following must apply: 0 < i_lrVel <= MaxVel of the drive.

For the permissible value range for i_lrVel, also refer to q_sMsg output.

-

An invalid value was transferred to the i_lrVel parameter of the stMoveOnPos property of FB_Home.

The following must apply: 0 < i_lrVel <= MaxVel of the drive.

For the permissible value range for i_lrVel, also refer to q_sMsg output.

Enumeration name:

WaitForStart

Enumeration value:

5

Description:

Waiting for starting command.

Enumeration name:

WaitUntilDisabled

Enumeration value:

8

Description:

Waiting until the POU is deactivated.

Enumeration name:

WaitUntilHomingDone

Enumeration value:

265

Description:

Wait until the homing is completed.

RegisterLoggerPoint

Registering the logger points of the POU in the Application Logger

stForce

ST_HomeForce

Read/Write

Reading and writing of the ST_HomeForce structure. According to ET_HomeMode, the structure is used within the following homing procedures:

PosDirectionMaxForce

NegDirectionMaxForce

stLimitSwitch

ST_HomeLimitSwitch

Read/Write

Reading and writing of the ST_HomeLimitSwitch structure. According to ET_HomeMode, the structure is used within the following homing procedures:

PosDirectionPosEdgeHWLimitPos

NegDirectionPosEdgeHWLimitNeg

NegDirectionNegEdgeHWLimitNeg

PosDirectionNegEdgeHWLimitPos

stMoveOnPos

ST_HomeMoveOnPos

Read/Write

Reading and writing the ST_HomeMoveOnPos structure. According to ET_HomeMode, the structure is used within the following homing procedure:

MoveOnPosAbs

stReducedVelocity

ST_ReducedVelocity

Read/Write

Reading and writing of the ST_ReducedVelocity structure. According to ET_HomeMode, the structure is used in all homing procedures except for the following:

WriteAxisEncoder

SetPosAxisPosition

SetPosLogEncoderPosition

SetPosAxisAndLogEncoderPosition

RestorePosFromRetain

RestorePosFromAxisEncoder

stSensor

ST_HomeIn

Read/Write

Reading and writing of the ST_HomeIn structure. According to ET_HomeMode, the structure is used within the following homing procedures:

PosDirectionPosEdgeSensor

NegDirectionPosEdgeSensor

NegDirectionNegEdgeSensor

PosDirectionNegEdgeSensor

stSetPos

ST_HomeSetPos

Read/Write

Reading and writing of the ST_HomeSetPos structure. According to ET_HomeMode, the structure is used within the following homing procedures:

SetPosAxisPosition

SetPosLogEncoderPosition

SetPosAxisAndLogEncoderPosition

RestorePosFromRetain

RestorePosFromAxisEncoder

stTorque

ST_HomeTorque

Read/Write

Reading and writing of the ST_HomeTorque structure. According to ET_HomeMode, the structure is used within the following homing procedures:

PosDirectionMaxTorque

NegDirectionMaxTorque

stTouchProbe

ST_HomeTp

Read/Write

Reading and writing of the ST_HomeTp structure. According to ET_HomeMode, the structure is used within the following homing procedures:

PosDirectionPosEdgeTp

NegDirectionPosEdgeTp

NegDirectionNegEdgeTp

PosDirectionNegEdgeTp

stWritePos

ST_HomeWritePos

Read/Write

Reading and writing of the ST_HomeWritePos structure. According to ET_HomeMode, the structure is used within the following homing procedures:

WriteAxisEncoder