Response of the new version:
When activating CSP mode, the current following error will be set to zero now and will not be balanced.
What happens?
When switching over from CSV to CSP, the setpoint position is set to the actual position in the modulo cycle. The following error previously built up in the controller during speed-controlled operation is, however, not compensated. It is corrected via the position control circuit activated now and the axis moves accordingly.
When does this behaviour occur?
A modulo axis is moved in speed-controlled operation in the CSV mode (Cyclic Synchronous Velocity mode) and a following error develops over several modulo cycles.
During operation, the operating mode is changed from CSV to CSP (Cycylic Synchronous Position mode = position control).
Which products are affected?
Library: L_MC1P_MotionControlBasic (FAST Motion)
Short-term measures, Evaluation/recommendations:
Inhibit the axis before changing the operating mode.
