Saia PCD2.H310, Manual

Page: 65 / 154

PCD2.H31x Error handling and diagnosis
26/762 E2
(2H3-08-E.DOC)

SAIA-Burgess Electronics Ltd. Page 8-3
8.2.2 Error during homing
If it has not been possible to find the reference position (e.g. due to a
faulty reference switch), the 'fHomeErr_x' error flag is set, motion is
stopped, the absolute position is zeroed and FB 'Home' is broken off.
Reference switch absent or incorrectly wired:
If FB 'Home' has been broken off because the specified timeout has elap-
sed, the diagnostic register 'rDiag' is additionally loaded with code 6 as
the parameter number (the timeout is parameter 6).
The 'fHomeErr_x' flag is defined for each module (_x is the module no.)
and is reset at the start of FB 'Home'. This flag should be queried each ti-
me FB 'Home' is called, to ensure that the axis is correctly referenced:.
Example:
CFB Home ; Homing axis 3
k 3 ; Module number
0 ; search direction
r 1010 ; min. speed
r 1011 ; max. speed
50 ; timeout
i 64 ; input reference switch
STH fHomeErr_3 ; Query home error flag
;
of axis 3
CFB h Errorhandl ; Call (user specific)
;
FBs, in case fHomeErr_3 = H
CFB Exec ; Motion 1
LS1 LS2
1
2
3
- Error flag "fhomeErr_x"
- Absolute position at 0