IF_Homing - TouchProbe (Method)

Overview

Type:

Method

Available as of:

V1.0.0.0

This chapter provides information on:

Task

Selecting the homing to a TouchProbe signal.

Interface

Input

Data type

Description

i_etComponent

ROB.ET_RobotComponent

Selecting the component for which a homing has to be executed to a TouchProbe signal.

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_etMode

PDL.ET_HomeTpMode

(Refer to PacDriveLib Library Guide\Motion\Homing)

Enumeration type to describe the homing modes for homing to a TouchProbe signal.

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

i_lrMaxDeceleration

LREAL

Specifies the maximum deceleration during the homing.

Unit: [Units/s2]

Value range: i_lrMaxDeceleration

i_lrRamp

LREAL

Specifies the ramp during the homing.

Unit: [-]

Value range: i_lrRamp

i_lrHomePosition

LREAL

Homing position at the end of the homing.

i_lrOffset

LREAL

Offset between the sensor signal and the homing point.

i_lrMaxDistance

LREAL

Maximum distance for homing.

i_xRotativeSystem

BOOL

Rotative (endless) system.

i_ifTouchProbe

SystemConfiguration.IF_TouchProbe

Digital measured input of the PacDrive System in which the homing signal is fed.

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

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

TouchProbeInvalid

67

The connected TouchProbe 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_HomeTpMode (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.

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.

Ok

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.

TouchProbeInvalid

Enumeration name:

TouchProbeInvalid

Enumeration value:

67

Description:

The connected TouchProbe is invalid.

Issue

Cause

Solution

The configuration of the homing mode was not successful.

The TouchProbe object or interface transferred to the input i_ifTouchProbe is invalid.

Ensure that a valid TouchProbe object or interface was transferred to the input i_ifTouchProbe.