FB_HomeTorque - General Information

Overview

Type:	Function block
Available as of:	V1.0.3.0
Inherits from:	-
Implements:	-
Versions:	Current version

Task

Homing an axis to a limit stop.

Description

An axis i_ifDrive is moved to the reference position. The axis is moved across the distance i_lrMaxTravel. At the same time, the applied torque is monitored. If the applied torque exceeds a value of i_lrMaxTorque Nm for a period of i_diTorqueTime ms, the axis is moved back by i_lrOffset, stopped and set to the position i_lrHomePosition. Two modes (input i_etMode) are supported for homing.

Interface

Input	Data type	Description
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_ifDrive	IF_Drive	Input for the axis that shall be controlled.
i_lrMaxTorque	LREAL	The torque (in Nm) of the motor shaft of the drive is limited using MaxTorque.
i_diTorqueTime	DINT	Required torque time (in msec)
i_lrLowLimit	LREAL	Lower limit of the position relative to the start position, at which the torque signal is valid.
i_lrHighLimit	LREAL	Upper limit of the position relative to the start position, at which the torque signal is valid.
i_etMode	ET_HomeTorqueMode	Reference mode oPosDirectionMaxTorque = Positive direction, until MaxTorque is reached oNegDirectionMaxTorque = Negative direction, until MaxTorque is reached
i_lrOffset	LREAL	Offset between hitting the stop and the reference point. The offset should be preset in the opposite direction to “Moving to Stop”.
i_lrMaxTravel	LREAL	Maximum distance for searching for the stop.
i_lrHomePosition	LREAL	Reference position at the end of the referencing.
i_lrVel	LREAL	Velocity (change of position) in units/s.
i_lrAcc	LREAL	Acceleration (change of velocity) in units/s².
i_lrDec	LREAL	Deceleration (change of velocity) in units/s².
i_lrJerk	LREAL	Jerk (change of acceleration/deceleration) in units/s³.
i_xStart	BOOL	Starts referencing.

Output	Data type	Description
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_lrPosition	LREAL	Axis reference position.
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_xHomeOk	BOOL	Axis stops at the reference position.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	9	The POU is disabled.
OK	HomingDone	222	Homing has been performed.
OK	Initializing	4	The POU is being initialized.
OK	WaitForStart	5	Waiting for starting command.
OK	WaitUntilDisabled	8	Waiting until the POU is deactivated.
OK	WaitUntilMaxTorqueReached	227	Waiting until the maximum torque has been reached.
ControllerConditionInvalid	ControllerInvalid	100	The controller is not supported.
DriveConditionInvalid	DriveNotReady	10	The drive is not ready for motion commands.
ExecutionAborted	AsyncInitNotFinished	290	Init has not been completed yet.
ExecutionAborted	ColdResetOfControllerNecessary	297	A cold start of the controller is required
ExecutionAborted	NoAsyncTasksCreated	289	No asynchronous task has been generated.
HomingFailed	MaxTorqueNotFound	228	MaxTorque has not been reached.
InputParameterInvalid	AccRange	12	Acc is outside the valid range.
InputParameterInvalid	AsyncInvalid	288	The value of IF_Async is invalid.
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	MaxTorqueRange	229	MaxTorque is outside the valid range.
InputParameterInvalid	MaxTravelRange	215	MaxTravel is outside the valid range.
InputParameterInvalid	UnknownMode	111	The Mode is indeterminable.
InputParameterInvalid	VelRange	11	Vel is outside the valid range.
SercosConditionInvalid	SercosNotInPhaseFour	19	The Sercos bus is not in phase 4.
UnexpectedProgramBehavior	AsyncAddWasNotSuccessful	284	It was not possible to transfer an asynchronous job to a task.
UnexpectedProgramBehavior	InterfaceCastFailed	285	The prompt for the interface was unsuccessful.
UnexpectedProgramBehavior	SemaphoreMeCreateFailed	287	The creating of a Semaphore failed
UnexpectedProgramBehavior	UnexpectedFeedback	1	An unintended detected error occurred during execution.
UnexpectedProgramBehavior	UnknownState	2	The POU is in an undefined state.

AccRange

Enumeration name:	AccRange
Enumeration value:	12
Description:	Acc is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrAcc, an invalid value has been transferred.	The following must hold: 0 < i_lrAcc < drive parameter MaxAcc For the valid value range for i_lrAcc, see output q_sMsg

Issue

Cause

Solution

At the input i_lrAcc, an invalid value has been transferred.

The following must hold: 0 < i_lrAcc < drive parameter MaxAcc

For the valid value range for i_lrAcc, see output q_sMsg

AsyncAddWasNotSuccessful

Enumeration name:	AsyncAddWasNotSuccessful
Enumeration value:	284
Description:	It was not possible to transfer an asynchronous job to a task.

Issue	Cause	Solution
-	An error has been detected and occurred in the internal execution.	Please inform the support team about this detected error.

AsyncInitNotFinished

Enumeration name:	AsyncInitNotFinished
Enumeration value:	290
Description:	Init has not been completed yet.

Issue	Cause	Solution
-	Init() method has not yet been completed.	Call up the Init() before you call up Start() for the first time. After you have called up the Init, wait until Init has been executed successfully. (Init.q_xDone = TRUE)

Issue

Cause

Solution

Init() method has not yet been completed.

Call up the Init() before you call up Start() for the first time.

After you have called up the Init, wait until Init has been executed successfully. (Init.q_xDone = TRUE)

AsyncInvalid

Enumeration name:	AsyncInvalid
Enumeration value:	288
Description:	The value of IF_Async is invalid.

Issue	Cause	Solution
-	No valid value has been transferred at the i_ifAsync input.	Verify the value at the i_ifAsync input for <> 0.

ColdResetOfControllerNecessary

Enumeration name:	ColdResetOfControllerNecessary
Enumeration value:	297
Description:	A cold start of the controller is required

Issue	Cause	Solution
-	Gc_udiNumOfAsyncTasks has been changed.	A cold start of the controller and a call up of Init() is required.

ControllerInvalid

Enumeration name:	ControllerInvalid
Enumeration value:	100
Description:	The controller is not supported.

Issue	Cause	Solution
-	The controller does not provide the required conditions.	For more details, see output q_sMsg.

DecRange

Enumeration name:	DecRange
Enumeration value:	13
Description:	Dec is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrDec, an invalid value has been transferred.	The following must hold: 0 < i_lrDec < drive parameter MaxAcc For the valid value range for i_lrDec, see output q_sMsg

Issue

Cause

Solution

At the input i_lrDec, an invalid value has been transferred.

The following must hold: 0 < i_lrDec < drive parameter MaxAcc

For the valid value range for i_lrDec, see output q_sMsg

Disabled

Enumeration name:	Disabled
Enumeration value:	9
Description:	The POU is disabled.

The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	3
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	At the input i_ifDrive, no drive was applied.	At the input i_ifDrive, a valid drive must be transferred.
-	The connected drive does not support all required functionalities.	Establish which functionalities are not supported by the drive by means of output q_sMsg. Use a drive which supports all required functionalities.

Issue

Cause

Solution

At the input i_ifDrive, no drive was applied.

At the input i_ifDrive, a valid drive must be transferred.

The connected drive does not support all required functionalities.

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

Use a drive which supports all required functionalities.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	10
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis is not in position control.	Verify the state of the axis.

HomingDone

Enumeration name:	HomingDone
Enumeration value:	222
Description:	Homing has been performed.

The homing sequence has been completed successfully.

Initializing

Enumeration name:	Initializing
Enumeration value:	4
Description:	The POU is being initialized.

The function block is being initialized and thus is not yet ready to receive commands at its inputs.

The function block will signalize that it is ready for operation with the signal q_xReady = TRUE.

InterfaceCastFailed

Enumeration name:	InterfaceCastFailed
Enumeration value:	285
Description:	The prompt for the interface was unsuccessful.

Issue	Cause	Solution
-	An error has been detected and occurred in the internal execution.	Please inform the support team about this detected error.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	14
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrJerk, an invalid value has been applied.	At the input i_lrJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

MaxTorqueNotFound

Enumeration name:	MaxTorqueNotFound
Enumeration value:	228
Description:	MaxTorque has not been reached.

Issue	Cause	Solution
-	The stop was not found.	Verify the state of the stop. Verify the input i_lrMaxTorque Verify the input i_lrMaxTravel Verify the state of the axis.

Issue

Cause

Solution

The stop was not found.

Verify the state of the stop.

Verify the input i_lrMaxTorque

Verify the input i_lrMaxTravel

Verify the state of the axis.

MaxTorqueRange

Enumeration name:	MaxTorqueRange
Enumeration value:	229
Description:	MaxTorque is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrMaxTorque, an invalid value has been applied.	At the input i_lrMaxTorque, a value must be transferred which fulfills the following formula: 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.

Issue

Cause

Solution

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

At the input i_lrMaxTorque, a value must be transferred which fulfills the following formula:

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.

MaxTravelRange

Enumeration name:	MaxTravelRange
Enumeration value:	215
Description:	MaxTravel is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrMaxTravel, an invalid value has been applied.	At the input i_lrMaxTravel, a value greater than 0 must be transferred.

NoAsyncTasksCreated

Enumeration name:	NoAsyncTasksCreated
Enumeration value:	289
Description:	No asynchronous task has been generated.

Issue	Cause	Solution
-	Gc_udiNumOfAsyncTasks = 0	Allocate Gc_udiNumOfAsyncTasks with a value > 0 and <= 10.

SemaphoreMeCreateFailed

Enumeration name:	SemaphoreMeCreateFailed
Enumeration value:	287
Description:	The creating of a Semaphore failed

Issue	Cause	Solution
-	An error has been detected and occurred in the internal execution.	Please inform the support team about this detected error.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	19
Description:	The Sercos bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	1
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

UnknownMode

Enumeration name:	UnknownMode
Enumeration value:	111
Description:	The Mode is indeterminable.

Issue	Cause	Solution
-	At the input i_etMode, an invalid value has been applied.	At the input i_etMode, an element of the enumeration ET_HomeTorqueMode must be applied.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	2
Description:	The POU is in an undefined state.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

VelRange

Enumeration name:	VelRange
Enumeration value:	11
Description:	Vel is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrVel, an invalid value has been applied.	Apply a value greater than 0 and smaller than the axis parameter MaxVel to i_lrVel.

WaitForStart

Enumeration name:	WaitForStart
Enumeration value:	5
Description:	Waiting for starting command.

The function block has completed its initialization and is waiting for a positive edge at the input i_xStart before continuing the processing.

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	8
Description:	Waiting until the POU is deactivated.

The function block is disabled. All internal states are reset and connected resources (e.g. axes) are transferred to a safe state. The function block has to be called up continuously until it reports q_xActive = FALSE.

WaitUntilMaxTorqueReached

Enumeration name:	WaitUntilMaxTorqueReached
Enumeration value:	227
Description:	Waiting until the maximum torque has been reached.

The axis is moved towards the stop until the set torque is exceeded or the maximum distance has been covered.

Methods

Name	Description
RegisterLoggerPoint	Registering the logger points of the POU in the Application Logger