L_MC1P: i550 and position control via PLC (external encoder): Homing only works when an external encoder axis is used. (corrected from V03.24.00)
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.24.00
(Update via Package Manager)
Response of the new version:
Position control using the actual position value of the i550 axis is still only possible in the way described under "Short-term measures".
A parameterisation check has now been implemented for user guidance and to avoid incorrect parameterisation.
The error message 'ExtEncoderRequiredByPosCtrl (20807)' is output under the following conditions:
When enabling the i550 inverter (controller enable) AND
incorrect parameterisation of the actual position value of the i550.
If the filtered speed is required by the drive, this is mapped in the variable <Axis_Ref>.lrActVelocityDrive. This corresponds to <Axis_Ref>.lrActVelocity in the earlier selection Subindex 92 (position controller) = [-] (no selection)
What happens?
The position control does not work if the parameterisation is done as described below.
When does the behaviour occur?
Inverter i550 as axis and
Sub-index 90 (standard control type) = position control ext. position encoder [1].
Sub-index 92 (position controller) = [-] (no selection)
i550-Parameter 0x2C49:3 (Position counter: Actual position) included in the PDO mapping
The type of parameterisation described above is not intended for position control with inverter i550 (not a guaranteed feature). Accordingly, this type of parameterisation is not documented and must not be used!
The following procedure is provided for using the actual position value of the i550 axis for position control. For this, the following settings must be made in the PLC project:
append an additional axis node "Free encoder" under "VirtualAxes",
Adjust PDO mapping: Map the actual position of the i550 axis (parameter 0x2C49:3) to the "free encoder",
Encoder axis: select "Free encoder" under sub-index 92.
