Y_ResetAbsoluteEncoder
This Function Block clears absolute encoder alarms caused by battery power loss, cable disconnection, etc.
WARNING:
After performing this function, the motor position will be cleared and must be re-established (see
MC_SetPosition
) to avoid mechanical damage to the machine.
Parameters
| * | Parameter | Data Type | Description | Default |
|---|---|---|---|---|
| VAR_IN_OUT | ||||
| B | Axis | AXIS_REF | Logical axis reference. This value can be located on the Configuration tab in the Hardware Configuration (logical axis number). | |
| VAR_INPUT | ||||
| B | Execute | BOOL | Upon the rising edge, all other function block inputs are read and the function is initiated. To modify an input, change the value and re-trigger the execute input. | FALSE |
| VAR_OUTPUT | ||||
| B | Done | BOOL | Set high when the commanded action has completed successfully. If another block takes control before the action is completed, the Done output will not be set. This output is reset when Execute goes low. | |
| E | Busy | BOOL | Set high upon the rising edge of the Execute input, and reset when Done, CommandAborted, or Error is true. In the case of a function block with an Enable input, a Busy output indicates the function is operating, but not ready to provide Valid information. (No Error) | |
| B | Error | BOOL | Set high if an error has occurred during the execution of the function block. This output is cleared when 'Execute' or 'Enable' goes low. | |
| E | ErrorID | UINT | If Error is true, this output provides the Error ID. This output is reset when 'Execute' or 'Enable' goes low. | |
Notes
After successfully resetting the absolute encoder, servo must be power cycled.
Perform the setup operation for the absolute encoder in the following circumstances:
- When starting the machine for the first time.
- When an encoder backup error (A.810) occurs.
- When an encoder checksum error (A.820) occurs.
- When the multi-turn data of absolute encoder is to be set to zero.
Error Description
See the
Function Block ErrorID List
Example
Y_ResetAbsoluteEncoder is executed.
The Logic Analyzer trace for the above Function Block is shown below:
