L_TF2P_TablePositioning: xResetError unexpectedly changes the motion parameters during positioning (corrected from V3.21.01)

Corrected from:

L_TF2P_TechModulesFollowingPositioning V3.21.01
in conjunction with the L_TB2P_TechModulesBasic V03.21.01

Response of the new version:

xResetError = FALSE/TRUE does not interrupt an active positioning

What happens?

xResetError = FALSE/TRUE interrupts an active positioning. The axis stops immediately or moves to the target 0 unit with different motion parameters than before.

xResetError = FALSE / TRUE when positioning is active in 'Relative' mode
The axis stops immediately with a delay of 36000 unit/s² and maximum jerk.
xResetError = FALSE / TRUE when positioning is active in 'Absolute' mode
The axis moves to the target 0 unit with the following parameters:
Speed: 3600 unit/s ; Acceleration / Deceleration: 36000 unit/s²; Jerk: Maximum

When does the behaviour occur?

If during an active positioning a positive edge is detected at the xResetError input.
This causes an unexpected change to default motion parameters.

Which products are affected?

L_TF2P_TechModulesFollowingPositioning V03.20.00 and V03.21.00
This library is also used in the i950 technology application Table Positioning in firmware versions V01.04.xx.

Short-term measures:

Immediate action with affected library:

In user programs with the technology module L_TF2P_TablePositioning the edge at xResetError can be prevented as long as xProfileBusy = TRUE.
For applications with i950 TA (parameterizable only) the error Reset during an active positioning must be prevented in the superordinate logic PLC.

Measures with availability of the corrected library:
User programs with the technology module L_TF2P_TablePositioning must be updated with the corrected library.
In applications with i950 TA (parameterizable only) an update of the i950 firmware to V01.05.xx is required.

Evaluation/Recommendations:

Depending on the set kinematic parameters, the change to default motion parameters can mean a motion with maximum speed and/or maximum current.
The maximum jerk causes torque jumps. When positioning in the 'Absolute' mode, the change to target = 0 unit can mean that the axis moves into a range,
in which there is a risk of collision.
Monitoring of maximum values such as contouring error, max. speed or max. acceleration / jerk can respond.

An individual evaluation of the applications is necessary.
Can an error reset be carried out by the logic PLC or the machine operator on an axis that is not in error status? How likely is this?
What happens in the machine if the behavior described above occurs in the customer's system?
In case of high probability of occurrence and/or effects with danger of collision, short-term measures must be implemented.

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