SafeMotion: SAFEMC_POS_ACT,Safe position

[valerio.manenti]

Hi Community!

I’m doing a test with SafeMotion, but I don’t see the correct value of the ParID 309: SAFEMC_POS_ACT.

We have few ParIDs on the Gray side to monitor few SafeMOTION data:

I have very simple configuration:

As you see below the value of that ParID is 0 even when the motor is spinning:

Below my ARs:

same result with AS 6.5, mapp Motion 6.6 and mapp Safety 6.4.

Any idea? I’m sure there is a mistake on my settings but I don’t see that at the moment.

Thanks

Ciao

Valerio

[job.franken]

Hello,

Did you home the safemotion part ? Is the Safe position bit valid ? You could read the status with ParId 4 .

Absolute position function set:
Bit24: StatusNotErrorEnc     ..  Encoder error is not active
Bit25: StatusHoming          ..  Safe position is valid

[valerio.manenti]

Hi Job,
thanks for your quick answer.
I added the ParID in my trace:

I homed my axis on “gray“ side with home direct:

so should I home the axis inside the safety application?

[valerio.manenti]

Thanks Job,
I see now the correct value on my ParID 309:

after I added the FUB SF_oS_MOTION_AbsPos_BR:

Thanks again
Ciao
Valerio