Corrected from:
9400 HighLine V15.00.09
9400 Servo PLC V09.00.09
Response of the new version:
In hardware Rev3 devices, the current position FDB_dnActualPos_p (C2575) does not change when the device is restarted if the actual position at the position encoder is unchanged.
What happens?
After every restart of the device, the current position FDB_dnActualPos_p (C2575) changes by the same offset although the actual position at the position encoder has not changed.
When does this behaviour occur?
The behaviour occurs under the following conditions:
Which products are affected?
9400 HighLine V14.x with control card HW version Rev3 (C210:1=3x)
9400 Servo PLC V8.x with control card HW version Rev3 (C210:1=3x)
Short-term measures:
FDB_dnPosOffset = 0 as long as HM_bHomePosAvailable = TRUE after booting.
Evaluation/recommendations:
The 'Reference known' status remains unchanged, the axis position does not match the real mechanical position. In the event of a device replacement in an existing machine there is thus a risk of collision. Typically, the conditions FDB_dnPosOffset <> 0 and Traversing range C2528 = 2: Modulo do not coincide.
