L_MC1P - Virtual axis: ErrorStop ramp lengthens due to excessive initial speed caused by oversized change of the setpoint position.
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.24.00.81
(Update via Package Manager)
Response of the new version:
The last speed value before the error occurred is used as the initial speed for the error stop ramp.
The duration of the error stop ramp and accordingly the required stopping distance correspond to the ramp settings (deceleration, jerk) and the last speed value before the error occurred.
What happens?
The duration of the error stop ramp and the required stopping distance are significantly longer than expected.
Background:
The initial speed of the error stop ramp is generated by derivation from the target position. In the event of an oversized change in the setpoint position that occurs due to an error, an oversized initial speed is calculated for the error stop ramp. Due to the principle and depending on the ramp settings (delay, jerk), the duration of the error stop ramp is extended and the required stopping distance is increased accordingly.
When does the behaviour occur?
Axis type "virtual axis" set and
Occurrence of an oversized change of the target position from a commissioning Move function module with a function restriction contained therein.
