Which products are affected?
ESP-SPAC-CAM1 – Cam V2.0 software package (cam template)
What happens?
The cam template indicates 'Standby' (g_nTemplateState = 10), although the initialisation of the cam template has not yet been completed.
When does the problem occur?
The problem occurs if an error has been detected in the cam template during the initialisation phase or the reason for an error already exists during power off (e. g. resolver cable interrupted => Sd2 error). In these cases, the cam template state changes over to the 'Trouble' (g_nTemplateState = 1).
If the error cause is eliminated and the error is reset, the cam template state changes to 'Standby', although an initialisation (CamControl.FbCamControl.bInitDone = FALSE) may not yet have been completed.
Possible diagnostics?
The behaviour can be diagnosed in combination with feed profiles with a very small feed length (few increments):
1. The drive system must be completely powered off.
2. Create an error 'manually' (e. g. unplug the resolver feedback cable).
3. Switch on the voltage and eliminate the error cause (e. g. plug the resolver feedback cable back in) and acknowledge the error (g_bErrorReset = FALSE => TRUE).
Although the internal variable CamControl.FbCamControl.bInitDone is set to FALSE, the cam template is already in the 'Standby' (g_nTemplateState = 10) state.
Short-term measures/recommendations?
Block the option to reset the error via an AND operation with the internal variable CamControl.FbCamControl.bInitDone.
Evaluation:
Due to the functional restriction, switchover to the 'Standby' state occurs too early. In the 'Standby' state, all drive functions can already be activated. However, since the formation of the actual cyclic position (modulo operation for evaluation of the position within one machine cycle) has not yet been completed, it is not possible to use the drive reasonably. If the user tries to traverse the drive, it responds by indicating an error message.
