Corrected from:
9400 HighLine firmware version 12.01.00.00
9400 ServoPLC from firmware version 06.01.00.00
Response of the new version:
The monitoring function no longer responds erroneously.
Which products are affected?
9400 HighLine servo inverter with firmware version from 07.00.30.00 to 12.00.18.00
9400 ServoPLC servo inverter with firmware version from 02.01.14.00 to 06.00.18.00
What happens?
In applications with SM301 safety module and resolver feedback, the SSM: Speed comparison error occurs sporadically. This behaviour occurs at a certain position in the travel range and can be quicklly identified. Under certain conditions, this position may reoccur every 32 resolver revolutions.
When does the problem occur?
The problem occurs under the following conditions:
· Safety functions of SM301 are used for which the resolver speed of the 9400 standard device is transferred to the safety module (single-encoder concept with resolver). For this, first, a position is internally transferred and differentiated in the safety module. This position has a 20-bit resolution, i.e. every 32 revolutions there is a position overflow.
· A resolver with a number of pole pairs p=1 is used.
· The application movement requires standstill with active control at the overflow position.
If the position is only continuously traversed, the behaviour does not occur.
The behaviour may occur every 32 revolutions within an estimated window of +/-5 inc.
Possible diagnostics?
The safety module indicates this state with SMI_dnState=16393.
If the behaviour always occurs at a certain position in the travel range at standstill with active control, it is very likely that the above-described behaviour has occurred. The overflow at 2^20 increments cannot be diagnosed at an available oscilloscope variable.
Short-term measures/recommendations:
There is no applicative remedy available for this behaviour.
Evaluation:
The sporadic response of the monitoring function reduces the availability of the inverter. Under certain conditions, the error can only be reset. The safety functions of SM301 are not impaired by this behaviour. Since the faulty behaviour can only occur at controlled standstill within a very narrow position window, the probability of occurrence is very low.
Publication type:
Public (AKB on the Internet/Intranet)
