Remedied from:
ECSxA (ECS axis module application as of version 7.4)
and standard applications Speed&Torque, Posi&Shaft and Motion
Behaviour of new version?
When the torque setpoint (signal MCTRL-MSET2) reaches the torque limit Tmax during the QSP ramp, this sometimes led to short drops in the torque characteristic which sometimes accordingly lenghtened the duration of the QSP ramp.
This effect was caused by setting the integral action component of the speed encoder to zero when reaching the torque limit. Now, the integral action component is no longer set to zero but it is limited appropriately to achieve a constant stop at maximum torque and to avoid turning backwards or drifting in standstill.
Which products are concerned?
ECSxA (ECS axis module application up to version 7.1)
and standard applications Speed&Torque, Posi&Shaft and Motion
Problem description:
When the torque setpoint (signal MCTRL-MSET2) reaches the torque limit Tmax during the QSP ramp, this can lead to short drops in the torque characteristic which may accordingly lengthen the duration of the QSP ramp.
When does the problem occur?
When the QSP deceleration time under C0105 is set so short that the drive cannot generate the torque required for the resulting QSP ramp without reaching the torque limit (Tmax).
Possible diagnostics?
Sketch the torque characteristic (MCTRL-MSET2) during the QSP ramp and watch the output signal MCTRL-MMAX.
Short-term measures/recommendations?
Extend the QSP deceleration time under C0105 so that the drive can follow the ramp without reaching the torque limit.
Evaluation
With this effect, the drive still stops safely.
Information taken from chapter 2.13 of
Service Message No. 07/2007.
