L_MC1P - MC_Touchprobe: When using i950 Cia402Advanced TP3 or TP4, an incorrect TP position is detected (corrected from V03.29.00)
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) as of V03.29.00
(Update via Package Manager)
Response of the new version:
When determining the TP position for TP3 and TP4, the motor mounting position is now always correctly taken into account, regardless of the PDO mapping.
What happens?
i950 with TA CiA402-Advanced:
With inverted motor mounting position, an incorrect TP position is determined via the touch probe inputs TP3 or TP4 if the associated touch probe parameters are not included in the PDO mapping.
When does the behaviour occur?
i950 with TA CiA402-Advanced AND
use of the touch probe inputs TP3 or TP4 AND
the motor mounting position in the motion axis is set to inverted AND
the associated TP parameters for TP3 and TP4 are not included in the PDO mapping.
Which products are affected?
Library: L_MC1P_MotionControlBasic (FAST Motion)
Short-term measures, evaluation/recommendations:
i950 with TA CiA402-Advanced:
When using TP3 and TP4, the associated TP positions, as well as the control and status word for TP3 and TP4 should be integrated in the PDO mapping for the cyclically transmitted process data.
In general, when using the TP function, it is recommended to integrate the TP parameters into the PDO mapping as described:
