Eliminated from:
9400 HighLine SW V04.00.21.00
Behaviour of the new version?
The set delay is observed. The drive shows the expected behaviour.
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Which products are affected?
9400 HighLine SW ≤ V03.00.44.00
What happens?
After detection of the home position, an undefined behaviour (sudden stop) occurs when braking into the home position. The set deceleration is not observed.
When does the problem occur?
The problem occurs during a running homing process after the event determining the home position (
HM_bHomePosAvailable = FALSE=>TRUE) when the drive decelerates and is expected to stop at the home position C2643.
This behaviour only occurs if linear ramps (S-ramp time C2648 = 0s) are used and the braking distance resulting from the parameterised deceleration (C2647) and the homing speed (C2644, C2646) exceeds the internal representation limit of 2^31-1 increments.
Possible diagnostics?
The problem occurs when the result smax of the following formula is higher than or equal to 2^31:
smax = 0.5 * (V^2 * i * 2^ShiftFactor) / (a * FC)
with:
V = homing speed C2644 and C2646
a = deceleration C2647
FC = feed constant of measuring system
i = gearbox ratio of measuring system
ShiftFactor = shift factor of measuring system
Short-term measures/recommendations?
- Select a deceleration C2647 as high as possible for braking during homing.
- Reduce the homing speeds C2644 and C2646.
- Reduce the shift factor C0100 of the axis measuring system as far as possible.
Evaluation:
The function restriction only occurs with high shift factors and low decelerations. Basically, the evaluation is much the same as under AKB article ID
200809214.
Published with Service Message No. 47/2008
