I have a motion project that is working fine except when I call MC_Home. My axis (AXIS_REF_SM3) is enabled, at Standstill, and I can move the axis just fine. But, when I enable my MC_Home FB, it aborts right away and the axis object (not the FB) gets a "smc_fb_wasn't_called_during_motion" error. One odd thing is that the 'instance' of the SMC_FBError is zero:
All of my motion FB's are on the EtherCat task so that is not the issue. If I replace the axis object with a virtual axis (AXIS_REF_VIRTUAL_SM3) MC_Home exits normally with Done (not CommandAborted like with the real axis).
What am I doing wrong?
I am running v3.5 SP15 and Softmotion RTE V3 x64 on an industrial PC with Win10. The jitter on my motion task is about 50us with a cycletime of about 250us.
PS, I cannot use SMC_Home because this axis does not have inputs to change the direction. I am using the 'find reference mark' in the drive.
Which drive is connected?
I am using Servotronix CDHD, Yaskawa Sigma 7 and Oriental Motor stepper drives. The CDHD is the drive I am currently trying to home. I can also home the axis directly from the drive so that is not the problem.
The drives are slightly different in case the of the behavior, which bit should set homing etc...
There are some parameters to set may this helps. See attached picture. ( You need to enable Tools-options->device editor ->'show generic device configuration views' to see this parameter page.
Another point to check in which task do you call the mc_home FB?
I did not know about the device configuration option, thank you.
I have an 'axis' function block that encapsulates all the functionality of an axis. All the MC function blocks are included and cyclically called based on inputs to the main FB. My motion FB's are all called the same way, which is why this error is so frustrating. I cannot see any difference between my calls to MC_Power or MC_MoveAbsolute and my call to MC_Home. I would expect a different error if my drive object was not configured correctly.
Under the new Parameter tab, I do not have the same 'DSP402 configuration' fields as in your picture (I only show DSP402.bImmediateDisabling). Does this mean Homing (with MC_Home) is not supported? That would explain a lot.
If you use the generic DS402 driver these parameter should be there.
In which version is SoftMotion?
You could update SoftMotion by updating the SoftMotion package, current version is 18.104.22.168
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