What happens?
If a touch probe signal has been detected the mechanics rotates several modulo cycles back or continues to rotate until the actual position (C1210/3) has reached the home position (C1227/2).
When does the problem occur?
If a cycle length is set in the machine parameters (C1201/1 > 0 units), i.e. it is positioned in a modulo measuring system and a homing mode to a touch probe sensor (TP) is used.
The problem occurs in all homing modes in which a TP signal is used (C1221 = 6 to 11).
Which products are affected?
8400 HighLine with a firmware version V11.xx
8400 TopLine with a firmware version V02.xx
Possible diagnostics?
After the touch probe sensor has been detected the mechanics rotates back by several modulo cycles or continues to rotate until the actual position (C1210/3) has reached the set home position (C1227/2).
Related to the touch probe signal, the home position is indicated correctly within the modulo cycle but with an offset of several cycles. This offset is moved back at the end of the homing process.
Short-term measures/recommendations?
Set the actual position to e.g. '0 Units' by executing 'set home position/reference' before homing is started.
In order to do so write the functions 'LA_TabPos_bHomeSetPosition' and the signal 'LA_TabPos_bHomeResetPosition' with 'TRUE' for one cycle.
As a result, the actual position is written to the value of the 'LS_MotionControlKernel_dnMotorRefOffset_p' signal. If the signal is not assigned the actual position is set to '0 Units' and the 'LS_MotionControlKernel_HomePosAvailable' status is immediately cancelled.
Evaluation:
At the end of the homing process a rotation, which is not expected with regard to the temporal progress, may occur over a longer period of time.
Due to homing the drive executes principally rotating movements.
Search terms: Movement after homing, touch probe, Modulo
