Which products are affected?
ESP-SPAC-CAM1 – Software Package Cam 1.4 (cam template)
What happens?
If the cam template is inhibited, the following error is not set to zero while setting the home position (
g_bHomePositionSet = TRUE). If the following error reaches the following error limit the cam template does not change to the 'Trouble' state and a following error is indicated. If the following error does not reach the following error limit a jerky compensation of the following error may occur when enabling the controller.
When does the problem occur?
The behaviour only occurs if the following conditions are complied with at the same time:
- the drive is inhibited and
- the 'Set home position' function (g_bHomePositionSet = TRUE) is triggered continuously and
- the motor shaft moves while setting the home position
Possible diagnostics?
If the motor shaft is rotated while the servo controller is inhibited and the 'Set home position' function (
g_bHomePositionSet = TRUE) is triggered permanently the following error indicates values unequal zero (template variable
g_dnFollowError_p).
Short-term measures/recommendations?
The 'Set home position' function should only be triggered if the motor shaft cannot be moved. If this cannot be guaranteed the signal
g_bHomePositionSet = TRUE should only be triggered for a short period of time (e.g. for 7ms in the POU '
UserProgram1').
Evaluation:
The behaviour described before occurs if the axis moves while the controller is inhibited and the 'Set home position' function is triggered at the same time. Since the home position is usually not set again in a cyclic mode but only once during commissioning the behaviour is detected at an early stage.
