Hello,

During homing procedure once drive torques out it faults out as well at the same time. Currently I reset the fault automatically with my logic, but as I understand it should not fault out like that, or atleast overtime running such procedure might not be that good to the system. Any ideas how to prevent that fault occurring each time, and do things where once it hits 0 drive stops rather than faulting out?

Thank you!

Hi, 

can you please give the fault number and cause that occurs? 

Without that info we cannot know what's the problem here.

This is the error I get whenever it runs homing sequence.

Hi, 

this fault indicates that your the drive operates at its torque limits - 2 options in my opinion:

Either you travel against a kind of mechanical fixed stop...

Or the control setting is not optimal so there is oscillation in the control and this way the limit is hit - in this case an optimization run would help (One Button Tuning).

I am using Standard Telegram 3, which I have noticed you can set torque limits on Telegram 10. Not sure what is the difference between them.

ok so then it is clear why you get the motor blocked message. 

Which type of encoder do you have? I assume you must have an absolute encoder (maybe even multiturn) -> so the question is: why do you want to do a kind of active homing procedure. In this case you just need to adjust your encoder once during commissioning. So bring the drive manually (or via jog or something) to your wanted position and perform MC_Home function in mode 6 or 7. In your TO settings make sure that the encoder evaluation is set to "cyclic absolute" and not "incremental". Then the PLC will save the encoder offset remanently and you will never again need to home your axis. 

In case you really want to go against a mechanical fixed stop you should check out the function "MC_TorqueLimiting" in combination with telegram 105 for example. 

After implementing telegram 105 and as well 750 and as well using torque limiting option 1 everything got fixed.