L_MC1P: Function for reconstructing the actual position does not work reliably if the 'LRW' option of the EtherCAT master is activated (corrected from V3.12.0)
Corrected from: - Library: L_MC1P_MotionControlBasic (FAST Motion) as of V03.12.00.70 (contained in PLC Designer as of V03.12.00.177)
Response of the new version: The described behaviour does not occur anymore.
The reconstruction of the actual position works reliably now.
What happens?
Under certain conditions, the position reconstruction calculates an incorrect actual position. The HomePosAvailable status bit remains set although the indicated actual position is not correct.
When does this behaviour occur?
The behaviour occurs if the 'Use LRW instead of LWR/LRD' option is activated (checked, like in the Lenze setting) in the EtherCAT master and
the EtherCAT devices are switched off before the controller is switched off.
Which products are affected? - Library: L_MC1P_BasicMotion (FAST Motion)
(contained in PLC Designer)
Short-term measures:
Deactivate the 'Use LRW instead of LWR/LRD' option (uncheck box).
If the controller or the first EtherCAT device is switched off first, the position reconstruction works as expected when the 'Use LRW instead of LWR/LRD' option is activated (box checked).
Evaluation/recommendations:
The effects of the function restriction are already detected during commissioning so that corrective measures can be taken.
