IF_Homing - Torque (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

oTask

oInterface

oDiagnostic Messages

Task

Selecting the homing by moving to a limit stop.

Interface

Input	Data type	Description
i_etComponent	ROB.ET_RobotComponent	Selecting the component for which a homing has to be executed by moving to a limit stop. Valid values are: oET_RobotComponent.All oET_RobotComponent.AxisAll oET_RobotComponent.AxisA oET_RobotComponent.AxisB oET_RobotComponent.AxisC oET_RobotComponent.AxisD oET_RobotComponent.AxisE oET_RobotComponent.AxisF oET_RobotComponent.AuxAxAll oET_RobotComponent.AuxAx1 ... AuxAx10
i_etMode	PDL.ET_HomeTorqueMode (Refer to PacDriveLib Library Guide\Motion\Homing)	Enumeration type to describe the homing modes for the homing by moving to a limit stop.
i_lrMaxVelocity	LREAL	Specifies the maximum velocity during the homing. Unit: [Units/s] Value range: i_lrMaxVelocity > 0
i_lrMaxAcceleration	LREAL	Specifies the maximum acceleration during the homing. Unit: [Units/s²] Value range: i_lrMaxAcceleration > 0
i_lrMaxDeceleration	LREAL	Specifies the maximum deceleration during the homing. Unit: [Units/s²] Value range: i_lrMaxDeceleration > 0
i_lrRamp	LREAL	Specifies the ramp during the homing. Unit: [-] Value range: i_lrRamp > 0
i_lrHomePosition	LREAL	Homing position at the end of the homing.
i_lrOffset	LREAL	Offset between the stop and the reference point. The offset has to be specified in the opposite direction to Moving to limit stop.
i_lrMaxDistance	LREAL	Maximum distance to search for the limit stop.
i_lrMaxTorque	LREAL	The torque (in Nm) of the motor shaft of the drive is limited by using MaxTorque.
i_diTorqueTime	DINT	Required torque time (in msec).

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> Status message q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives additional information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> Status message

q_etDiag <> GD.ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	HomeModeInvalid	145	The Home mode is invalid.
InputParameterInvalid	MaxAccelerationRange	31	The maximum acceleration is out of range.
InputParameterInvalid	MaxDecelerationRange	32	The maximum deceleration is out of range.
InputParameterInvalid	MaxDistanceRange	33	The maximum distance is out of range.
InputParameterInvalid	MaxTorqueRange	59	The maximum torque is out of range.
InputParameterInvalid	MaxVelocityRange	30	The maximum velocity is out of range.
InputParameterInvalid	RampRange	35	The ramp is out of range.
InputParameterInvalid	RobotComponentInvalid	144	The robot component is invalid.
InputParameterInvalid	TorqueTimeInvalid	147	The torque time is invalid.

HomeModeInvalid

Enumeration name:	HomeModeInvalid
Enumeration value:	145
Description:	The Home mode is invalid.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_etMode is invalid.	Ensure that at the input i_etMode a valid homing mode of PDL.ET_HomeTorqueMode (refer to PacDriveLib Library Guide\Motion\Homing)has been transferred.

MaxAccelerationRange

Enumeration name:	MaxAccelerationRange
Enumeration value:	31
Description:	The maximum acceleration is out of range.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_IrMaxAcceleration is outside the valid range.	At the input i_IrMaxAcceleration, a value greater than 0 must be transferred.

MaxDecelerationRange

Enumeration name:	MaxDecelerationRange
Enumeration value:	32
Description:	The maximum deceleration is out of range.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_lrMaxDeceleration is outside the valid range.	At the input i_IrMaxDeceleration, a value greater than 0 must be transferred.

MaxDistanceRange

Enumeration name:	MaxDistanceRange
Enumeration value:	33
Description:	The maximum distance is out of range.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_IrMaxDistance is outside the valid range.	At the input i_IrMaxDistance, a value greater than 0 must be transferred.

MaxTorqueRange

Enumeration name:	MaxTorqueRange
Enumeration value:	59
Description:	The maximum torque is out of range.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_IrMaxTorque is outside the valid range.	At the input i_IrMaxTorque, a value greater than 0 must be transferred.

MaxVelocityRange

Enumeration name:	MaxVelocityRange
Enumeration value:	30
Description:	The maximum velocity is out of range.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_IrMaxVelocity is outside the valid range.	At the input i_IrMaxVelocity, a value greater than 0 must be transferred.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the homing mode was successful.

RampRange

Enumeration name:	RampRange
Enumeration value:	35
Description:	The ramp is out of range.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_lrRamp is outside the valid range.	At the input i_lrRamp, a value greater than 0 must be transferred.

RobotComponentInvalid

Enumeration name:	RobotComponentInvalid
Enumeration value:	144
Description:	The robot component is invalid.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_etComponent is invalid.	Ensure that at the input i_etComponent, a valid component has been transferred.

TorqueTimeInvalid

Enumeration name:	TorqueTimeInvalid
Enumeration value:	147
Description:	The torque time is invalid.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_diTorqueTime is invalid.	At the input i_diTorqueTime, a value greater than 0 must be transferred.