Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) (no changes intended)
(contained in PLC Designer)
Response of the new version:
What happens?
If certain controller parameters are changed while the application is running (initialisation phase has been completed), the changes will not be immediately effective in the higher-level control system but only after a new initialisation process.
The higher-level control system requires certain parameters from the controllers for converting torques or for torque feedforward control. During the initialisation phase, the required parameters are read out from the controllers, e.g. i700 servo inverter, and accepted in the axis data structure (Axis_Ref). Among the parameters read out are e.g. the rated motor torque and the moment of inertia of the motor.
When does this behaviour occur?
The behaviour occurs when changing motor parameters in a running PLC application after the initialisation of the axis data structure (Axis_Ref) has already been completed.
Which products are affected:
Library: L_MC1P_MotionControlBasic (FAST Motion)
(contained in PLC Designer)
Short-term measures:
Variant 1: Only change the motor parameters offline and download the program after changing the motor parameters.
Variant 2: Change the motor parameters online and reinitialise the axis (using the L_MC1P_ReinitNode FB).
Variant 3: Change the motor parameters online and perform a PLC reset.
Evaluation/recommendations:
In general, reference variables such as motor parameters are not changed during normal machine operation, but mainly in the commissioning phase. In the commissioning phase, the required behaviour can be achieved by considering the 'short-term measures' described.
