Servo inverter i950 FW: from V01.04.02.1546
Response of the new version:
TA CiA-Advanced only (0x4000=1):
The use of a linear SSI encoder, under the conditions described below, is now possible.
After switching on the system, the actual position is now correctly initialized, independent of the time sequence when switching off the entire system.
Notice:
The behaviour of the new version described above is initially only valid for the TA CiA-Advanced in order to provide a solution for current projects in a timely manner.
The correction for the other TAs within the i950 FW (firmware) is planned for the following version. This also applies to projects based on a TA project template and free programming, using the FAST-Motion libraries. Here, however, there is the possibility of correction via the PLC application in the controller. For this purpose, some program lines have to be inserted into the project.
What happens?
SSI linear encoder: After switching on the system, the actual position is incorrectly initialized.
When does the behaviour occur?
Linear encoder' is set as load encoder type (0x2C5A:20 = 1).
Use of a linear SSI encoder (e.g. laser distance measuring system or linear barcode reader), which cannot be supplied by the drive controller itself due to its power requirement, but must be supplied externally AND
When the entire system is switched off, the supply to the SSI encoder is already interrupted before the drive system has been completely shut down.
As a result, falsified position data is stored during shutdown and the position reconstruction when the system is switched on again provides an incorrect actual position.
Which products are affected
Servo inverter i950 FW
Short-term measures / evaluation / recommendations:
If the SSI linear encoder is supplied via a separate voltage source (power supply unit), ensure that the SSI encoder is supplied with power when the entire system is switched off at least until the drive controller has shut down.
Automatic Translation
