IF_Homing - RestorePosFromRetain (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Selecting the homing by restoring the position after reading the remanent variables.

Input	Data type	Description
i_etComponent	ROB.ET_RobotComponent	Selecting the component for which a homing has to be executed after reading the remanent variables. Valid values are: ET_RobotComponent.All ET_RobotComponent.AxisAll ET_RobotComponent.AxisA ET_RobotComponent.AxisB ET_RobotComponent.AxisC ET_RobotComponent.AxisD ET_RobotComponent.AxisE ET_RobotComponent.AxisF ET_RobotComponent.AuxAxAll ET_RobotComponent.AuxAx1 ... AuxAx10
i_lrAbsEncOffset	LREAL	Encoder position offset.
i_lrRestoreWindow	LREAL	Maximum permissible deviation between the saved and the restored axis positions.
i_pstRestorePosRetain	POINTER TO PDL.ST_AxisRestorePosition (Refer to PacDriveLib Library Guide\Motion\Homing\FC_SaveAxisRestorePosition)	Pointer to the remanent data.
i_xRestoreOnInit	BOOL	Homing is performed (automatically) for InitHoming.
i_xRestoreOnHoming	BOOL	Homing is performed when calling up the HomingMode.

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

General library-independent statement on the diagnostic.

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

q_etDiagExt

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.

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	OnInitOrOnHomingInvalid	146	OnInit or OnHoming is invalid.
InputParameterInvalid	RobotComponentInvalid	144	The robot component is invalid.

The configuration of the homing mode was successful.

Enumeration name:	OnInitOrOnHomingInvalid
Enumeration value:	146
Description:	OnInit or OnHoming is invalid.

Issue	Cause	Solution
The configuration of the homing mode was not successful.	The value transferred at the input i_xRestoreOnInit or i_xRestoreOnHoming is invalid.	If the method is called, one or both inputs have to be set to TRUE.

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.