L_MC1P: Extension of braking distance when reversing due to unfavorable profile generation (corrected from V03.21.00)
Corrected from: Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.21.00.102
(Update viaPackage-Manager)
Response of the new version
The reversing process is now carried out optimally with regard to ramp duration and braking distance. When reversing under the following conditions, the Acc/Dec setpoint is no longer initially reduced to zero.
What happens?
When generating a profile, the existing Acc/Dec setpoint is first reduced to zero via the set jerk and then rebuilt. This means that the full deceleration is not continuously effective and the duration of the deceleration phase is extended. The temporary reduction of Acc/Dec to zero is unnecessary. The longer duration of the deceleration phase causes an extension of the braking distance.
When does the behaviour occur?
Use of Move FBs, for example: 'MC_MoveAbsolute', 'MC MoveRelative', 'ABC'.
Assignment of a new positioning with new target position while the previous positioning is still being processed.
The previous positioning is in the target run-in phase (delay active).
To reach the new target position, reversal is required.
Which products are affected:
Library: L_MC1P_MotionControlBasic (FAST Motion)
Short-term measures, Evaluation/Recommendations:
Do not order a new positioning until the previous positioning has been processed. Or, if necessary, terminate the previous positioning prematurely by stopping and then order the new positioning.
