Corrected from:
9400 HighLine firmware version 12.00.18.00
9400 Servo PLC firmware version 06.00.18.00
Response of the new version:
Monitoring of the current speed setpoint can be activated via the option C2564 bit3=TRUE. After this, there will be no longer any excessive speed when compensating the jerk at the profile transition.
Which products are affected?
9400 HighLine servo inverter with a firmware version < 12.00.18.00
9400 Servo PLC servo inverter with a firmware version < 06.00.18.00
What happens?
When changing a profile in the acceleration phase, the required deceleration leads to an excessive speed. During this process, the speed setpoint may exceed the maximum speed set in C2703. The monitoring function parameterised in C2716/3 does not respond, as expected.
When does the problem occur?
The monitoring function only responds if the target speed from the profile parameters exceeds the value set in C2703. The process-related speed increase in the deceleration process at the transition between two profiles with different jerk values is not monitored.
Possible diagnostics:
Using the internal oscilloscope of the 9400, the setpoint speed can be recorded as output variable of the LS_Feedback. From these values you can see the deceleration and jerk of the deceleration process after activation of the SLS.
The above-described function restriction has occurred if the deceleration process differs depending on POS_bEnableOverride=TRUE or FLASE.
Short-term measures/recommendations:
In general, the excessive speed during a profile change can be avoided if the jerk of the profiles is maintained.
Jerk=acceleration/S-ramp time
Evaluation:
The speed monitoring does not work as expected. When changing the profile, the speed limit may be exceeded. Profile generation is as expected. The drive is moved in a controlled mode.
