Corrected from:
Inverter Drives 8400 HighLine and TopLine from firmware version 14.00.00.00
Response of the new version?
Modulo positioning is carried out correctly now even if a change in the target position and the PosExecute edge are executed isochronously.
Which products are affected?
8400HighLine and TopLine: FW version ≤ 13.00.00.00
What is the response?
A modulo positioning is obviously not executed, or the expected target position is not approached if the PosExecute edge is executed as a piece of process data at the same time as or with a delay of few ms after the target position is changed.
With a repeated edge, the positioning is executed as expected.
When does the problem occur?
The following conditions must be met at the same time:
- The modulo measuring system is activated: C1201/1>0 units
- The target position is specified as a piece of process data via L_MckCtrlInterface.dnPosSetIn_p
- The positioning is started at the same time as or with a delay of few ms after the value at dnPosSetIn_p is changed.
If the target position is preselected via the L_MckCtrlInterface block, an internal calculation routine is called, for the conversion of the target position in the cycle. Depending on the computing utilisation, this calculation takes longer than 1ms. In this case, the response occurs, since at the time of the PosExecute edge the target was not valid yet.
Diagnostics options?
It has to be checked whether the positioning is also not executed if the positioning start is only effected when the L_MckControlInterface.bPosSetDataValid=TRUE. Then the response should not occur anymore.
Short-term measures/recommendations?
If the target position is smaller than one cycle, a conversion is not required anymore. In this case, the target can be directly preselected at LS_MotionControlKernel.dnProfilePosition_p. Then the isochronous start is possible again.
Alternatively, as a basic remedy, the PosExecute command can also be AND'ed with the L_MckControlInterface.bPosSetDataValid=TRUE status. This, however, requires a relatively complex function block interconnection.
Evaluation:
Positioning is not carried out to the preselected target position. The machine process is therefore interrupted. When a movement to a non-specified position is carried out, there is the risk of collision with products or other machine parts.
The response occurs sporadically and is therefore not necessarily detected during the configuration/commissioning.
