FB_Calibration - Using the Function Block

Prepare the Robot

• To use the function block the robot must be disabled. Otherwise, the function block does not operate and reacts with the error etDiag = DriveConditionInvalid etDiagExt = RobotIsActive.

• The function block needs the correct calibration interface attached.

Start a Calibration

• To start a calibration, select the calibration mode from the input i_etMode and start the calibration by setting the i_xExecute to TRUE.

• The function block sets the output q_xBusy during an active calibration, when the calibration is done the output q_xCalibrationDone is set to TRUE.

• The calibration starts with the positive edge of the Execute input. The input needs to be TRUE until the calibration is done, otherwise the calibration stops and a diagnostic message is issued.

Brake Release

• For the brake release function, the function block reacts slightly different to the other modes.

• To open the brake, set i_xExecute to TRUE.

• When the output q_xCalibrationDone is TRUE, the brake is open until i_xExecute is set to FALSE.

Cancel calibration

It is possible to stop running calibration by setting the input i_xExecute to FALSE. However, this may result in the robot not being calibrated correctly.