L_MC1P_BrakeTest: When releasing the brake for load identification, there is no torque pre-control for jerk-free load transfer (corrected from V03.25.00)
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.25.00
(Update via Package-Manager)
Response of the new version:
During the brake test with load identification, the torque pre-control is now analogous to normal operation (controller enable).
The load transfer when releasing the brake now takes place with as little jerk as possible and without sagging.
What happens?
Brake test function:
Load identification is always started without pilot torque and not the pilot torque used for normal operation, if any.
With active loads, e.g. hoists, this can cause the drive to sag slightly when load identification is started.
When does the behaviour occur?
Brake test function (via FB 'L_MC1P_BrakeTest' or via command Sub 121) and
the option for automatic load identification is active.
