Which products are affected?
Function restriction eliminated on the 9300EP servo positioning controller as of versions V2.5 and V6.1.
Eliminated function restriction
Generation of velocity precontrol by differentiation of the external position setpoint POS-PSETEXT, e.g. from external continuous path control, was provided with a filter within the POS block. In terms of closed-loop control this filter caused an undesirable dead time. In a test applying dynamic motions to a real machine better results were achieved, as to be expected, without this filter. Consequently it has now been eliminated.
The acceleration precontrol is now also generated without a filter.
Possible diagnostics?
The differentiation performed within the POS block now supplies the same values as when formed via an external FB connection.
Short-term measures/recommendations?
Formation of velocity precontrol from the position setpoint by means of FB connection (new value minus old value).
Evaluation:
The basic function was executed nevertheless, but now the dynamic response is much better.
