Reference travel direction inverted when homing

[CodyGielar]

Hello,

Initial Details:

ctrlX Drive Engineering 01V22.2

AXS-V-0308

XMD2-W1010ANN-02NETM5NNNN-S0308N2NNNN3NN

Motor: MSD110A-0027-NN-CS-HR0-14-R-M409

Rotary, Absolute

Our customer is experiencing strange behavior when attempting to home using Fixed Stop (Axis Blocking). When positive reference travel direction is selected, the motion direction moves in the negative direction. When negative reference travel direction is selection, the direction of travel results in the positive direction.

However, what's interesting is negation is set correctly in mechanics and scaling, and this is proven when jogging the motor using easy startup mode (positive command = positive travel). Only homing is inverted in what is the expected direction of travel.

I have a parameter file that I can share with other Bosch Rexroth team members. Customer is using Codesys SoftMotion for motion control, and this is behaving as expected. Only homing within Drive Engineering is where we're seeing this problem.

Thank you.

[stefanAT_ctrlX]

Maybe the S-530 block torque value is not adjusted the rigth way. I mean it's maybe too small and the customer reached allready the block value when starting the reference moving ?

Regards, Stefan

[Drives_Uwe]

Please send the drive parameter in format "all parameters". I guess that the selection of the homing parameter telling the direction to move is set wrong. Because it might be misunderstanding in the relevant menue.

[CodyGielar]

Hi @Drives_Uwe + @stefanAT_ctrlX, 

Thank you for your help on this. I will send you both the backup parameters, along with a trace. It appears that the fixed stop is detected immediately on initiating S-0-0148 Drive-controller homing, which is why Stefan probably guessed that the Clamping Torque S-0-0530 is set too low. We have raised this clamping torque value higher than the torque values we are seeing on the trace, just by jogging the motor (without hitting the fixed stop.) However, the motor still acts as though its found the hard stop, and homing completes immediately. This is why we were initially confused about what was happening, but the fixed stop was falsely triggered and our reference offset (S-0-0150) began.

We have checked actual torque value (S-0-0084), along with S-0-0530 and P-0-0442/ P-0-0443, and we are still running into this issue.

Cheers, Cody