L_MC1P - Move FBs without jerk limitation: Distance covered is extended under certain conditions (corrected from V03.24.01)
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.24.01
(Update via Package-Manager)
Response of the new version:
The behaviour described no longer occurs.
During profile generation, the reduction of an initial acceleration that is too high for the new profile is now always carried out within a call cycle.
This means that the distance covered is no longer extended as before.
What happens?
Under the conditions described below, it can happen that the distance travelled is significantly greater because the initial acceleration must first be reduced by a smaller jerk. In the event that reversing is necessary due to the greater distance, discontinuities will occur in the speed and position progression.
Background:
If, when starting a movement profile without jerk limitation, the current acceleration value of the previous profile is greater than the parameterised maximum acceleration for the new movement profile, the acceleration value is not reduced to the parameterised maximum acceleration of the new movement profile within one call-up cycle. Due to the jerk limitation, the reduction is distributed over several call-up cycles. This results in a greater distance travelled.
When does the behaviour occur?
A jerk-limited movement profile is overwritten or replaced by one or more movement profiles without jerk limitation in the acceleration phase.
The acceleration phase has not yet been completed for any of the movement profiles.
The start acceleration of the new movement profile without jerk limitation is greater than the maximum acceleration parameterised for this movement profile.
