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?
The set deceleration is not observed, the drive suddenly brakes at the target position.
When does the problem occur?
The problem occurs in positioning processes in which traversing blocks with an initial speed unequal zero are used, e. g.:
- TP residual path positioning processes
- Velocity changeover
- Restart of a running positioning process with lower deceleration values than in the original profile
The problem only occurs when linear ramps (S-ramp time = 0) are used and the braking distance resulting from the parameterised deceleration and the current speed 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 = current positioning speed
a = deceleration in the positioning set
FC = feed constant of measuring system
i = gearbox ratio of measuring system
ShiftFactor = shift factor of measuring system
Short-term measures/recommendations?
- Use a deceleration as high as possible in the following profile set.
- Reduce the positioning speed as far as possible.
- 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
