Position jump during clutch engagement (FB L_CamClutchXAxis)

Which products are affected?
ESP-SPAC-CAM1 – Software Package Cam V1.1 (cam library LenzeCamControl1.lib)

What happens?
Position jump at the clutch output (L_CamClutchXAxis.dnPosOut_p). The error message 'FollowErrFail' or 'XYPosChangeLimit' is indicated. The position jump depends on the difference between L_CamClutchXAxis.dnPosOut_p and L_CamClutchXAxis.dnActPosition_p.

When does the problem occur?
The problem occurs if the clutch is enabled (function block input L_CamClutchXAxis.bEnable = TRUE) and disengaged and shall be engaged via L_CamClutchXAxis.bClose = TRUE and the clutch output L_CamClutchXAxis.dnPosOut_p differs from the current input position L_CamClutchXAxis.dnActPosition_p. The problem can also occur in template cam.

Possible diagnostics?
The problem can occur if there is a difference between the value at the function block input L_CamClutchXAxis.dnActPosition_p and the output position of the clutch (L_CamClutchXAxis.dnPosOut_p).

Short-term measures/recommendations?
Direct clutch output feedback to the current input position: see graphic

Evaluation
For trouble-free operation, the position output dnPosOut_p of the clutch function L_CamClutchXAxis always must be fed back to its input dnActPosition_p. If the values fed back to L_CamClutchXAxis.dnActPosition_p differ from the clutch output position jumps can occur during clutch engagement at the clutch output L_CamClutchXAxis.dnPosOut_p.