L_MC2P MC_GearIn: Reference speed changes abruptly when engaging to a different speed (fixed from V03.21.00)
Corrected from: Library: L_MC2P_MotionControlCam (FAST Motion) from V03.21.00.06
Response of the new version:
When speed-based synchronizing/coupling via FB MC_GearIn, the specified ramps are now maintained, independent of the current motion state of the slave axis.
What happens?
FB MC_GearIn: During speed-based synchronizing/coupling, it can happen that the speed of the slave axis is set to the speed of the master axis in one cycle and thus the specified ramps are not maintained.
When does the behaviour occur?
When a change in the acceleration of the slave axis is necessary during the engagement process:
the slave axis is currently in a deceleration phase and must accelerate to a higher master speed.
the slave axis is currently in an acceleration phase and must decelerate to a lower master speed.
Which products are affected? Library: L_MC2P_MotionControlCam (FAST Motion)
Short-term measures, Evaluation/Recommendations:
If the engagement process is started during constant driving (acceleration = 0) or at standstill, the described behaviour does not occur.
