| Info: | Additional info |
| Data type: | UDINT |
Description:
Error in RSP homing. Stored position is invalid.
The additional information (Info1) shows possible additional errors which are set and also lead to an error in RSP homing:
Bit1 (0x00000002) ... Config changed (See error number 35507)
Bit1 (0x00000004) ... CRC error while receiving the remanent safe position (See error number 35509)
Bit3 (0x00000008) ... Stored position invalid (See error number 35180)
Bit4 (0x00000010) ... Positional change during power off too big (See error number 35506)
Bit6 (0x00000040) ... INT32 overflow of SafePosition (See error number 35504)
Bit7 (0x00000080) ... Homing already done without RSP (See error number 35510)
Bit8 (0x00000100) ... A firmware update which changed the version of the remanet stored position data has been installed.
Offset information for safety logger:
binary data[20..17]: Info1
Reaction:
The output S_SafePositionValid/S_Status_Homing is not set.
The module changes into Functional Fail Safe state.
Cause/Remedy:
The module was shut down or change into PreOp, while state S_RSPValid/S_Status_RSPValid was not set.
RSP homing is not possible in this state.
RSP Homing guidelines:
- Perform safe homing without input S_SwitchHomingMode/S_Control_SwitchHomingMode to receive a safe valid position!
- Assure that the state S_RSPValid/S_Status_RSPValid is set when turning off the module, if you want to use RSP homing.
- The state S_RSPValid/S_Status_RSPValid is set when the safety functions SOS and STO are active and S_SafePositionValid/S_Status_Homing is set.