Which products are affected?
ESP-SPAC-CAM1 – Cam V2.0 software package (cam template)
What does the response look like?
The cam template continues to display the status "Standby" for several cycles (g_nTemplateState = 10), although the global variable is g_bHomingStart = TRUE (start of the reference run).
When does the problem occur?
The problem occurs when the reference run is initiated via g_bHomingStart = TRUE in the cam template.
Diagnostics options?
The behaviour can be diagnosed by performing the following:
1. Set the global variable g_bHomingStart = TRUE to start the reference run (homing) and
2. Check the global variable g_bHomingBusy for a signal change from FALSE to TRUE or the global variable g_byOperationState for a change from the status 10 ('Standby') to the status 30 ('HomingOperation').
3. If these variables are recorded, for example with the oscilloscope function, we can see that several cycles pass before the actual status change occurs.
Short-term measures/recommendations?
As a step enabling condition, for example in a sequencer, the control signal g_bHomingStart should not be used. Instead, the appropriate status signals, such as g_bHomingBusy or g_bHomingDone, should be used.
Evaluation:
The functional restriction causes a delayed switching to the 'HomingOperation' status. However, the delay is just a few task cycles. A suitable query of the status signals allows the respective status of the reference run to be diagnosed and to be used as a step enabling condition in a sequencer.
