jason_cso (Customer) asked a question.
My system was working great, homing and moving in PR mode just fine. Then I added torque limiting, and that broke homing. Here's what I added to enable torque control:
Set up VDI12-13 as TCM0 and TCM1 (unfortunate that I have to tie up 2 DIs to enable torque limiting)
P2.039 = 0x116
P2.040 = 0x117
Set TCM0=1 and TCM1=1 so that torque control comes from P1.014, the third torque limit register.
P3.006 = 0b1110000000000
P4.007 = 0b1110000000000
Enable torque limiting (with servo OFF)
P1.002 = 0x10
Set torque limit to 100%
P1.014 = 100
With these settings, I can still issue position commands just fine, and the torque limiting works as expected. (I can set the torque limit to 10% and hold the axis back by hand, which I can't do at 100%).
But if I tell it to home itself, it sits there unmoving with the position counter increasing until it hits the P2.035 limit and issues an AL009.
If I clear the alarm and set P1.002 = 0, disabling torque limiting, then it homes as expected. (Perhaps the internal homing routine doesn't properly observe TCM0 and TCM1 and so it thinks its torque limit is 0, or something like that).
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Hm, the problem went away for a while and just returned. This time I'm able to make the AL009 come or go by setting the homing speed P5.005 or the acceleration above a low threshold. Regular PR moves at much higher speeds and accelerations work just fine, but if I don't crank it way down for homing I get AL009 toward the end of the homing cycle. (I'm using P5.004=1, homing to lower limit switch and then returning to Z pulse).
The AL009 issue might be a separate thing where I erroneously assumed that encoder feedback discrepancy should stay near zero.
But I just confirmed several times that setting P1.002 = 0x10 (enable torque limit) prevents auto tuning from working. "JOG" appears on the front panel but the motor doesn't move, so I can't set the 2 poses or start it moving back and forth. If I set P1.002 = 0 then jogging works again.