Eliminated from:
9400 HighLine SW V7.0
Behaviour of the new version?
In the event of profile linkage (e.g. due to too frequent changes between several traversing blocks) involving travel profiles with linear ramps (S-ramp time = 0[s]), errors no longer occur when generating profiles.
Description of the problem
The positioning movement is aborted due to a profile generation error. Bits 15 (group error message) and 30 (profile generation error) are set in the status output
POS_dnState at system block LS_Positioner.
When does the problem occur?
This behaviour occurs very occasionally with specific position, speed and acceleration values. It only arises ...
- ... In the event of profile linkage (e.g. caused by too frequent changes) and
- ...If linear ramps (S-ramp time = 0[s]) are set.
Which products are affected?
9400 HighLine SW ≤ V5.1
Diagnostics options?
The behaviour can be diagnosed if profile linkage (e.g. due to too frequent changes, hard change-over between traversing profiles) is selected with linear ramps and the traversing profile is aborted unexpectedly (bits 15 and 30 are set in status variable
POS_dnState).
Short-term measures/recommendations?
Set a slight S shape (a value of between 3 and 4 [ms] will suffice).
Evaluation:
The behaviour has only been observed once in the field. The positioning movement is aborted unexpectedly; this behaviour can be prevented, without making the traversing profile take significantly longer to complete, by setting an S-ramp time greater than 0.
Published with Service Message No. 38/2009
