Which products are affected?
9300EP servo positioning controller version V2.1
What happens?
With S-ramp with velocity changeover (ultimate velocity not equal to 0) for Touch Probe positioning the correct ultimate velocity is not reached in certain cases and the ultimate velocity which settles is slightly higher. At this higher velocity there is a switch to the following PS. The drive response then depends on the subsequent positioning procedures.
When does the problem occur?
This response described only occurs if when traversing the Touch Probe residual path the full defined travelling velocity is not reached, i.e. if the travel profile is not trapezoidal but triangular (each with S-curve).
Possible diagnostics?
Make an oscilloscope trace of the travel profile in the worst case. Connect output POS-NOUT to analogue output. Status output 'POS-VTRAV-REA' indicates with a high signal when the travel velocity has been reached.
Short-term measure/recommendations?
Set the TP residual path and profile parameters so that the defined travel velocity of the PS has reached. The simplest way is to reduce the travel velocity in the PS.
Evaluation:
Not critical because it can be remedied by setting the profile parameters appropriately.
