Corrected from:
Library: L_TW2P TechModulesWindingTraversing (from V03.23.00)
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Response of the new version:
With a new request for winding operation, the tractive force is built up after controller lock. The state of the TM or TA is switched to winding mode.
What happens?
After an interruption of the tension-controlled operation by controller inhibit (xEnableOperation = FALSE), no tension is built up despite renewed request for winding operation. The state of the TM or TA is displayed with State = 'StandBy'. The CiA Operation mode does not change back to 0x6061 = 10: Cyclic sync torque mode as expected but remains 0x6061 = 9: Cyclic sync velocity.
When does the behaviour occur?
The tension-controlled operation (State = 110: TensionCtrl) is interrupted by control word (TM xEnableOperation = FALSE, TA Controlword Bit3 = FALSE) and should be resumed afterwards without any other movement function having been active in the meantime.
Which products are affected?
FAST Library L_TW2P TechModulesWindingTraversing V03.21.00
This library is included in i950 TA Winder Tension-controlled V01.04.xx.
Short-term measures:
To resume winding operation after STO, the following workarounds are possible:
- In conjunction with the i950 TA Winder Tension-controlled
By parameterising the 'Reaction inhibit in operation' 0x500A:107 = 2: Warning (default is 1: No reaction), the system automatically switches back to TensionControl mode after interruption by STO. - In application of the technology module Winder Tension-controlled
The TM module L_TW2P_WinderTensionCtrlState must be diabled once and enabled again and then the TensionControl mode must be restarted.
Evaluation / recommendations:
By remaining in the 'StandBy' state after the interruption, the axis is held at standstill with speed control. If the line starts anyway, unwinders may break the web. Rewinders do not wind the material as expected.
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