Fixed as of:
Library: L_MC1P_MotionControlBasic (FAST Motion) (as of V03.34.00)
Behavior of the new version:
The axis follows a stable motion profile according to the configured parameters and the position of the potentiometer.The resulting axis speed remains within the specified limits (including maximum speed and acceleration values). Description of the behavior:
When using the FB L_MC1P_AxisBasicControlV2 as a
“position follower” with cyclically changing setpoint positions (frequent
retriggering of xMoveAbsExecute), the resulting motion profile can lead to a
sudden increase in acceleration and an unintended increase
in speed significantly above the configured maximum speed
(lrVel). In this case, neither a warning is issued nor a
log entry is generated.
Conditions under which this behavior occurs:
- The current positioning is in the target approach phase (decelerating to the target position).
The acceleration jerk is > 0.
The deceleration jerk is = 0 (no jerk limiting), because:
- the deceleration jerk was set to 0 via the property call lrSetJerkDec,
or - the target position cannot be reached with the parameterized jerk, and to prevent a change in direction (reversing), the deceleration jerk has been reduced to 0 by the jerk adjustment function
(Motion-Axis / Subfunction 134: Deceleration Behavior = 1 (Jerk Exceedance)) to 0.
During the deceleration phase (with deceleration jerk = 0, i.e., without jerk limiting), a new profile start occurs or the profile parameters are changed when theContinuousUpdate function is enabled.
Affected products:
Library: L_MC1P_MotionControlBasic
Short-term measures, recommendations, assessment:
During the deceleration phase, changes to the profile parameters and restarting the profile should be avoided as much as possible.
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