Fixed as of:
L_TV2P_StackerCraneAxisControlBase (as of V3.34.0)
Behavior of the new version:
The technology module remembers the originally set Mode of Operation before switching to the MAINTENANCE or EXTERNALstate.Upon the subsequent transition to the STANDBY state, the previously saved Mode of Operation is correctly restored. Description of behavior:
The L_TV2P_StackerCraneAxisControlBase technology module correctly switches to the STANDBY state after completing a maintenance operation, but incorrectly sets the Mode of Operation to “Poscontrol motor feedback” instead of restoring the previously configured “Poscontrol ext. encoder” mode.
The originally active mode is lost during the process.
This behavior occurs under the following conditions:
- The technology module is set to the Maintenance state, e.g., to perform maintenance work.
- Upon entering Maintenance mode, the module switches the axis to the"cyclic velocity mode" Mode of Operation.
- Meanwhile, the safety controller requests the SS2 function.
This causes the technology module to switch to the EXTERNAL state, as it is no longer permitted to control the axis itself. - The application then exits maintenance mode.
- After the SS2 function is canceled, the technology module regains control and, as expected, switches to the STANDBY state.
- Error: At this point, the original mode of operation is not restored; instead, the "Poscontrol motor feedback" mode is set.
Affected products:
Library L_TV2P_TechModulesStackerCrane
Short-term measures, recommendations, assessment:
The technology module remembers the "mode of operation" before the state
Mmaintenance is activated. This allows the mode to be restored when switching back to the
STANDBY .
- The SS2 function switches the TM to the EXTERNAL , meaning the axis is no longer controlled by the technology module.
- When the SS2 function is reset, the technology module regains control of the axis; at this point, it no longer returns to the originally set mode, but always switches to the "Poscontrol motor feedback"
- In this case, outside the technology module in the application, the function block L_MC1P_SetControlMode in the application
[Automatic Translation]
