Which products are affected?
9300EP servo positioning controller V2.5, V2.6, V6.1 and V6.2
What happens?
The output signal POS-ABS-VAL is not reset together with POS-ACTPOS after homing or setting the home position, taking into account the home position and reference measuring offset. If e.g. the POS-ABS-VAL signal is used to manipulate the actual value in a rotary table positioning process (Application Report No. 500.2.4) a jump in the actual value can lead to a jerking of the drive and the following error monitoring can possibly be activated.
When does the problem occur?
After homing or setting the home position.
Short-term measures/recommendations?
By using the 'set actual value' function the POS-ABS-VAL output can be reset correctly. Regarding this it is sufficient to activate POS-ABS-SET for the period of one program cycle (1ms) whilst the value = 0 must be applied at POS-ABS-IN. As a result, POS-ACTPOS and POS-ABS-VAL differ correctly by the home position and the reference measuring offset.
How to proceed if a correction becomes necessary in the course of a firmware revision:
Even if the described workaound is adhered to the correct function of the rotary table positioning will be maintained.
Evaluation:
Not critical. Remedy via function block interconnection.
