Corrected from:Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.20.00.102
(Update via Package-Manager)
Response of the new version:
The function Continuous Update of the MC_Move FBs has now been optimized in terms of time, taking into account the internally required computing times for the profile calculation.
With ContinuousUpdate = TRUE, changed profile parameters are now applied as quickly as possible:
- Vel override and Velocity:
are immediately applied in the call cycle now.
During the finishing phase velocity values will not be changed. Changed velocity values have no effect in principle, because the available braking distance would otherwise be exceeded.
- Position, Acc, Dec and Jerk:
are immediately applied in the call cycle now.
Exception: the previous profile calculation has not been completed.
If the profile calculation is still running, the updating of these values can be delayed by up to 3 call cycles.
Important: Do not use the Execute input instead of the ContinousUpdate function !
For restarting an MC_Move-FB via Execute edge during a running positioning, the note under 'Short-term measures' still applies.
What happens?
ContinousUpdate (function of the MC_Move-FBs):
Changed profile parameters are only adopted every 10 call cycles.
If, for example, the profile velocity changes cyclically, the new velocity is only taken into account in the profile calculation every 10th cycle.
When does the behavior occur?
The function Continous update of the MC_Move FBs, e.g. 'MC_MoveAbsolute' or 'MC_MoveRelative', is activated and a cyclical change of the preset profile parameters (position, Vel, Acc, Dec, Jerk and Override) takes place.
Which products are affected?
Library: L_MC1P_MotionControlBasic (FAST Motion)
Short-term measures, evaluation/recommendations:
If it should be necessary to adopt changed standard values in a shorter time, the MC_Move-FB can be re-instructed via a rising execute edge.
Note:
However, the Execute input of the MC_Move-FBs must not be toggled every millisecond!
The cyclical restart of a running MC_Move-FB at very short intervals can possibly lead to the target position being overrun.
It is critical if repeated restarts are made while the profile calculation is still running and takes up to three call cycles. During the calculation period, the system temporarily positions with extrapolated values. With each restart, the profile calculation starts from the beginning, so that the profile is continuously moved with extrapolated setpoints and at the end the target position can be passed over.
Automatic Translation
