L_CT1P_Autotuning and position controller: Incorrectly detected stability limit leads to premature termination (corrected from V03.26.01)
Corrected from:
Library: L_CT1P_Autotuning from V03.26.01
Response of the new version:
The set limitations of the position controller input are now no longer taken into account by the auto-tuning function.
Accordingly, the described behaviour no longer occurs.
What happens?
From V03.26.00, the auto-tuning function takes into account the set limitations of the position controller in the algorithm.
The internal input limitation of the position controller to +/- half a motor revolution is also taken into account.
However, this can lead to an erroneous abort of the auto-tuning algorithm if the tracking error on the motor side is more than half a motor revolution at the beginning.
When does the behaviour occur?
External position control active
Input limitation of the position controller active (0x5xxx:009.Bit00 = FALSE)
Which products are affected? Library: L_CT1P_Autotuning, only version V03.26.00 affected
