Eliminated from:
9400 HighLine SW V04.00.21.00
Behaviour of the new version?
The set delay is observed. The drive shows the expected behaviour.
<hr>
Which products are affected?
9400 HighLine SW ≤ V03.00.44.00
What happens?
When approaching the software limit positions, an undefined behaviour (sudden stop) occurs in the deceleration phase when the profile parameters for deceleration or speed are changed during manual control. The set deceleration is not observed.
When does the problem occur?
The problem occurs when the drive is moved in manual mode (
MAN_bEnabled = TRUE) by means of inching in forward or backward direction towards the activated software limit positions and the deceleration (C2623) is reduced and/or the inching speeds (C2620, C2621) are increased. The behaviour occurs when the braking distance resulting from deceleration (C2623) and inching speed (C2620, C2621) exceeds the internal representation limit of 231-1 increments.
The problem does not occur when the drive is decelerated to standstill by resetting the control inputs (
MAN_bJogPositive or MAN_bJogNegative).
Possible diagnostics?
The problem occurs when the software limit positions are activated and the result smax of the following formula is higher than or equal to 2^31 after changing the parameters:
smax = 0.5 * (V^2 * i * 2^ShiftFactor) / (a * FC)
with:
V = manual jog speed C2620 and C2621
a = deceleration C2623
FC = feed constant of measuring system
i = gearbox ratio of measuring system
ShiftFactor = shift factor of measuring system
Short-term measures/recommendations?
- Select a deceleration C2623 as high as possible for braking in manual mode.
- Reduce the manual speed C2620 and C2621.
- Reduce the shift factor C0100 of the axis measuring system as far as possible.
Evaluation:
The function restriction only occurs with high shift factors, low decelerations and automatic braking before reaching the (activated) software limit positions, and that only when the profile parameters for deceleration and speed are changed in addition during a running manual homing process. In practical applications, a shift factor of max. 22 (use of sin/cos encoders) would be reasonable. Since high shift factors are usually used for direct drives (i = 1) (e.g. cross cutter drives, printing rollers, ...), the maximum permissible ramp time Tmax means practically no restriction for the user.
Published with Service Message No. 47/2008
