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[BUG] axoctrlxdrivexsc Move absolute does not work after homing #1081

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Merged
TomKovac merged 2 commits into from
Mar 26, 2026
Merged

[BUG] axoctrlxdrivexsc Move absolute does not work after homing #1081

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2663255
Create draft PR for #765
TomKovac Mar 25, 2026
74b297c
AxoCtrlxDriveXsc
TomKovac Mar 25, 2026
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24 changes: 23 additions & 1 deletion src/components.rexroth.drives/ctrl/src/AxoCtrlxDriveXsc/AxoCtrlxDriveXsc.st
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Original file line number Diff line number Diff line change
Expand Up @@ -141,6 +141,8 @@ NAMESPACE AXOpen.Components.Rexroth.Drives

_infoTimer : AXOpen.Timers.OnDelayTimer;
_errorTimer : AXOpen.Timers.OnDelayTimer;
_tmpTimer : AXOpen.Timers.OnDelayTimer;

_lastMessageCodeFromMC : ULINT;
END_VAR

Expand Down Expand Up @@ -1955,6 +1957,7 @@ NAMESPACE AXOpen.Components.Rexroth.Drives
DriveStatus.Error.Id := UINT#0;
TaskMessenger.Restore();
THIS.CallTimers(FALSE);
_tmpTimer.OnDelay(THIS, FALSE , T#0s);
// _AxisReference^.Outputs.DriveControlWord_S_0_0134_0_0.IPOSYNC := FALSE;
// _AxisReference^.Outputs.DriveControlWord_S_0_0134_0_0.DriveHalt := FALSE;
// _AxisReference^.Outputs.DriveControlWord_S_0_0134_0_0.DriveEnable := FALSE;
Expand Down Expand Up @@ -2186,8 +2189,27 @@ NAMESPACE AXOpen.Components.Rexroth.Drives
END_IF;
END_IF;
IF _State = UINT#323 THEN
_State := UINT#327;
_AxisReference^.Outputs.SignalControlWord_S_0_0145_0_0.AcceptanceOfPositioningCommandValue := FALSE;
_AxisReference^.Outputs.SignalControlWord_S_0_0145_0_0.HomingControl := FALSE;
_AxisReference^.Outputs.SignalControlWord_S_0_0145_0_0.AbsoluteRelative := FALSE;
_AxisReference^.Outputs.SignalControlWord_S_0_0145_0_0.ImmediateChange := FALSE;
_AxisReference^.Outputs.SignalControlWord_S_0_0145_0_0.JogPositive := FALSE;
_AxisReference^.Outputs.SignalControlWord_S_0_0145_0_0.JogNegative := FALSE;
_AxisReference^.Outputs.SignalControlWord_S_0_0145_0_0.ClearError := FALSE;
_State := UINT#324;
END_IF;
IF _State = UINT#324 THEN
_tmpTimer.OnDelay(THIS, _AxisReference^.Inputs.DriveStatusWord_S_0_0135_0_0.InReference AND _AxisReference^.Inputs.SignalStatusWord_S_0_0144_0_0.DriveStandstill , T#100ms);
IF _tmpTimer.output THEN
_State := UINT#325;
END_IF;
END_IF;
IF _State = UINT#325 THEN
_State := UINT#326;
END_IF;
IF _State = UINT#326 THEN
_State := UINT#327;
END_IF;
IF _State = UINT#327 THEN
Done := TRUE;
MC_HomeCycle := ULINT#0;
Expand Down
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