LS_Limiter: Limited speed only takes effect with a delay
Corrected from: 9400 HighLine firmware version 12.00.18.00
9400 Servo PLC firmware version 06.00.18.00
Response of the new version: If the maximum speed is exceeded, the speed will now be reduced to the limit value again. For this, the biggest possible jerk is used which results from the maximum deceleration/acceleration and the minimum S-ramp time from the profile data of the LS_Limiter and the current profile. Via C2564 bit 4=TRUE, you can restore the compatible behaviour with FW<12.x.
Which products are affected? 9400 HighLine: FW version ≤ 11.00.10.00 9400 ServoPLC: FW version ≤ 05.00.10.00
What happens? During manual jog via LS_ManualJog, the speed-limitation is exceeded in spite of the request of a limited speed 1-4. If the limited speed of an SM301 safety module is monitored, the monitoring response set in the safety module becomes active, e.g. SS1 or STO.
When does the problem occur?
In the case of manual jog with a change of direction during the movement, the limitation threshold C2708/1…4 set is exceeded.
The manual jog deceleration C2623 is greater than or equal to the deceleration in LS_Limiter C2710/1…4, with which deceleration is executed if the speed is limited to the target speed.
In this case, deceleration is executed with the currently active jerk and the deceleration from the manual jog parameters.
Diagnostics options? Measurement with the internal oscilloscope as shown above. With LIM_bLimitation=TRUE, deceleration to the limited speed C2708/1…8 should be executed with the deceleration of the limiter C2710/1…4 and the S-ramp time in the limiter C2711/1…4. If this is not the case, this indicates the response described.
Short-term measures/recommendations? The deceleration of LS_Limiter C2710/1…4 must be parameterised greater than all other accelerations and decelerations of all profile-generating basic functions.
Evaluation: The response only occurs in connection with an excess speed during manual jog. Deceleration takes place with a deceleration to the limited speed that is not expected and too small. If the limited speed is monitored by an SM301 safety module, the monitoring response set in the safety module becomes active, e.g. SS1 or STO.
