L_MC1P - Positioning with velocity override: Exception may occur (corrected from V3.14.0)
Corrected from: Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.14.00.52
(update via Package Manager)
Response of the new version:
The cause of the described behaviour has been removed.
What happens?
Up to V03.12.xx:
In the case of an incorrect division by zero, an exception is triggered.
From V03.13.00:
The occurrence of a division by zero is avoided so that no exception occurs. The calculated motion profile may, however, be incorrect if the profile speed is reduced during positioning. Due to an incorrect calculation of the braking distance (using lrSetAcc instead of lrSetDec), the drive may reverse.
When does this behaviour occur?
Linear speed profile: lrSetJerk = 0
The selected profile deceleration is higher than the selected profile acceleration: lrSetDec > lrSetAcc
The max. profile speed is reduced during positioning: lrSetVel(new) < lrSetVel(old).
Which products are affected? Library: L_MC1P_MotionControlBasic (FAST Motion) (contained in the PLC Designer)
Short-term measures:
lrSetJerk setting > 0 (with jerk limitation). In the case of large jerk values, e.g.: lrSetJerk = 2000000, the jerk-limited motion profile nearly corresponds to a linear profile.
