L_MC1P: i550 with HTL encoder at DI3/DI4: At the end of the homing run a large tracking error occurs (corrected from V03.21.00)

Corrected from:
Library:  L_MC1P_MotionControlBasic  (FAST Motion)  from V03.21.00.102
                      (Update via Package-Manager)
 
Response of the new version:
Now, there is no high tracking error when setting the reference position to 0 units.
 
 
What happens?
A high tracking error occurs when the axis moves in positive direction and sets the reference to a value close to zero.

When does the behaviour occur?
  • The axis is in the modulo measuring system and 
  • moves in positive direction and
  • homing with reference position close to zero units and
  • position closed loop control is activated in the PLC via the axis
Which products are affected?
Library:  L_MC1P_MotionControlBasic  (FAST Motion)
 
Short-term measures, Evaluation / Recommendations:
For homing do not set the reference position close to value 0 units.

Workaround: Set reference position to: 
      Reference position = (2 * PLC cycle time * reference velocity)

Example:
      Referencing ccwLimitSwitch:
      PLC cycle time = 2ms;
      Velocity = 360 unit/s 
      Reference position = 2 * 2ms * 360unit/s  = 1,44 Unit


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URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201500390/1/
Meta data
Taxonomy: Lib L_MC1P_MotionControlBasic
AKB-ID: 201500390
Last update: 2023/09/09
Category: Version Informations

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