By setting C2868/001 bit 06 (xx.07: MCK Ck10 suppression) = TRUE, internal profile generation will switch to linear profile generation in the next calculation cycle. Therefore, the error will no longer occur and positioning without S-ramp smoothing will, as expected, be completed with the ready message (bProfileDone = TRUE, bInTarget = TRUE). Unless profile linkage is parameterised, the diagnostic bit C1247/000 bit 22 will still be set (despite setting MCK control bit 18). In this way you can see that the originally planned profile generation with S-ramp is has been replaced by linear ramp generation without jerk limitation.
What happens?
Starting travelling profiles including certain profile data with S-ramp smoothing and small distances leads to the error message Ck10 – distance calculation error. In this case, in the start cycle, a speed value is generated which, due to an abort process, subsequently ramps down to 0. When ramping down, the distance defined by the position is exceeded.
When does this behaviour occur?
If a very short distance is to be positioned with S-ramp smoothing, it may, as a function of the other profile parameters, happen that the positioning target cannot be be approached in an arithmetically correct way.
Which products are affected?
Short-term measures:
Evaluation/recommendations:
The error message does not lead to any problematic drive movements. Only the plant availability is reduced.
We recommend that you use the current firmware version and set bit 6 in C2868/001 to TRUE.
