L_MC1P: Retriggering of xMoveAbsExecute during the deceleration phase leads to incorrect positioning (fixed as of V03.32.01)
Removed from:
Library: L_MC1P_MotionControlBasic (FAST Motion) as of V03.32.01
(Update via Package Manager)
behavior of the new version: In the case described below, now continue moves towards the target position with the specified delay and reverses when the target position could not be reached with the specified parameters.
Description of behavior: If the target position is slightly reduced in the target entry phase (profile delay < 0) an active positioning is used instead of continue to move towards the target position with a specified delay and, if the target position cannot be reached with the specified parameters, to reverse, continue drivingwith the current speed setpoint. After reaching the target position, the target speed is set to zero.
Under what conditions does the behavior occur?
Positioning with profiles without jerk limit (ProfileJerk = 0)
The positioning profile is in the target entry phase (profile delay < 0)
change the profile parameters of the current positioning profile so that the itself resulting from the new profile parameters is slightly larger than the specified target position. The braking position corresponds approximately to the current target value of the profile speed x task interval.
ContinuousUpdate function is active or a new Execute edge occurs.
