AxisRef i950: When switching the control mode, the parameters 0x500A:136 and :137 are not taken into account (set tolerance window for setpoint=actual value) (corrected from V03.23.00)
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.23.00.159
(Update via Package Manager)
Response of the new version:
When switching the control mode (0x500A/90), the parameterised position window (0x500A:136 and 0x500A:137) is taken into account, i.e. the setpoint position remains unchanged if the distance to the actual position is within the parameterised position window.
What happens?
The parameterised position window (0x500A:136 and 0x500A:137) is not properly taken into account in all cases with regard to equating the setpoint with the actual value.
When switching the control mode (0x500A/90), the setpoint position is always equated with the actual position from the position encoder, regardless of the parameterised position window.
In the locked state of the i950 drive controller, however, the setpoint position is retained and is not overwritten with the actual position if the actual position is within the window parameterised in 0x500A:136 and 0x500A:137 around the last valid setpoint position.
When does the behaviour occur?
Motion axis (AxisRef):
The parameters 0x500A:136 and 0x500A:137 are parameterised to a value <> 0 and
the control mode (0x500A:90) is changed from speed control [10] to position control motor encoder [0] or to position control ext. position encoder [1].
