Which products are affected?
ESP-SPAC-CAM1 – Software Package Cam V1.5 (Cam-Template)
What happens?
The
g_bHomingDone signal (home position known) is not reset to FALSE although the home position has been lost due to external events.
When does the problem occur?
The
g_bHomingDone remains set to TRUE although the home position has been lost due to one of the following events:
- The resolver feedback system indicates an error (Sd2 error) or
- The absolute value encoder indicates an error (Sd7 error) or
- The motor mounting direction has been inverted via the CamControl.FbCamControl.bMotMountingOrientation internal variable or template code C3636/000.
Possible diagnostics?
The behaviour can be reproduced if the home position is known (
g_bHomingDone = TRUE) and one of the states mentioned above is forced. The
g_bHomingDone = TRUE state is kept although the home position has been lost.
Short-term measures/recommendations?
Delete the home position manually by setting the
g_bHomePositionReset template variable to TRUE if the home position is lost due to one of the events mentioned above. Use for instance the following extension of the cam templaters in a 7 ms interval task (e. g. UserProgram1 POU):
R_TRIG1(CLK:=CamControl.FbCamControl.bMotMountingOrientation);
F_TRIG1(CLK:=CamControl.FbCamControl.bMotMountingOrientation);
g_bHomePositionReset:=R_TRIG1.Q OR F_TRIG1.Q OR g_MCTRL_bResolverFault_b OR g_MCTRL_bEncoderFault_b;
Evaluation:
The measuring system zero point remains unchanged in the cam template although the home position has been lost due to one of the events mentioned above. By applying the program extension shown under
'Short-term measures/recommendations' the cases which may occur during operation are avoided.
