Corrected from:
Servo inverter i950 FW: from V01.08.00
Response of the new version:
The speed controller gain adaptation is no longer set to 0x2901:0 = 0%, but to the value that is present at lrSpeedPAdapt.
For all Lenze TAs: lrSpeedPAdapt = 1 corresponds to 100%.
What happens?
After a TA switch from Application selection 0x4000 = 10000: TA User to 0x4000 = 1, 5, 20, 40, 41, 50,51 (all except 0: CiA 402) the speed controller gain adaption 0x2901:0 = 0% is set.
No torque or not the expected torque is generated in the motor. Typically, a contouring error monitoring will be triggered.
If the i950 is restarted, 0x2901:0 = 100% (if stored in the parameter).
When does the behaviour occur?
When in the TA User, which was active in the i950 before the TA switchover, the input xEnableSpeedPAdapt = TRUE or not at all is connected at an instance of the L_TB2P_AxisInterface block.
Background:
The inputs of the function block are internally set with
- xEnableSpeedPAdapt = TRUE
- lrSpeedPAdapt = 1
initialised.
At the time of the TA switchover, the interface from the application to the CiA controller is initialised once until values of the new application become valid again. This means that 0x2901:0 is reset.
In the Lenze TAs, xEnableSpeedPAdapt = FALSE is set. This means that 0x2901:0 is not written to again.
After restarting the i950, 0x2901:0 will be reset to the value stored in the parameter.
Which products are affected?
Servo inverter i950 FW
Short-term measures:
The block input in the TA User should be set to xEnableSpeedPAdapt = FALSE if lrSpeedPAdapt is not used.
Evaluation / recommendations:
This behaviour is shown depending on the TA User used.
Setting 0x2901:0 = 0% can have serious consequences. In an application with an active load (hoist) this will cause a sag.
Automatic Translation
