Which products are affected?
ESP-SPAC-CAM1 – Software Package Cam V1.1 (template cam)
What happens?
If an external master value is selected as speed difference signal (e.g. digital frequency selection via X9) the position is only generated if the servo controller is enabled and the external speed master is selected. If the servo controller is inhibited or the virtual master is selected the external master speed is not evaluated because the digital frequency integrator is no longer processed. The external master position is not adjusted in accordance with the external master speed.
When does the problem occur?
The problem occurs when an external master is used in connection with digital frequency selection (g_bVertShaftExtEnable = TRUE, g_bTypeOfVertShaftExt = TRUE) and the servo controller is inhibited or the virtual master is activated.
Possible diagnostics?
If the template variables g_bVertShaftExtEnable = TRUE and g_bTypeOfVertShaftExt = TRUE when the servo controller is inhibited the internal digital frequency integrator does not start.
Short-term measures/recommendations?
Add an additional integrator (function block L_CamSetXAxisVelocity) to an application program (e.g. UserTouchProbeInput) of template cam: The output of the additional integrator must be assigned to the template variable g_dnVertShaftExt_p. In template cam, the external master value selection must be preselected as an absolute position (g_bTypeOfVertShaftExt = FALSE, g_bVertShaftExtEnable = TRUE).
Evaluation
The fault can be avoided by the above workaround.
