Remedied from?
9400 HighLine SW V5.0
Eliminated function restriction
If large stop ramps are set in the L_LdVirtualMasterP function block and a high position resolution is selected in C00100 in addition, a counter overflow in the braking distance calculation may be the result which leads to a setpoint step-change. The braking distance which results from the set deceleration time depends on the selected encoder resolution (C00100) and the gearbox factors of the application. Example: Resolution (C00100) = 24 bits, feed = cycle, gearbox factor = 1. From this follows that the braking distance must not be longer than +/-128 cycles.
Resolution (C00100) = 24 bits, feed = cycle, gearbox factor = 10. From this follows that the braking distance must not be longer than +/-12 cycles.
Implementing overflow detection reliably avoids the previously described behaviour, and thus setpoint step-changes, regardless if a higher or a lower resolution (C00100) is selected.
Published with Service Message No. 18/2009
