L_MC1P_SetControllMode: Switching of position control in connection with setpoint manipulating functions leads to position jump in the driving profile

Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.24.00.81
             (Update via Package Manager)
 
Response of the new version:
The position control mode can now be switched under the conditions described below without a large tracking error developing.

 
What happens?
When switching the position control mode, a jump in the course of the target position occurs for a PLC cycle under the conditions described below. As a result, a large tracking error occurs, which is then compensated with the corresponding torque. 

When does the behaviour occur?
A function acting on the setpoints is in operation, e.g.: Dead time compensation of the AxisRef, L_MC1P_AverageFilterSetValues or L_CT1P_OscillationCompensation and
during a movement, FB L_MC1P_SetControllMode switches the position control mode from the motor encoder to the application encoder. 
 
Which products are affected?
Library: L_MC1P_MotionControlBasic (FAST Motion)
 
Short-term measures / Evaluation / recommendations:
Under the above conditions, the position control mode should only be switched during standstill.

Automatic Translation 

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/202100146/1/
Meta data
Taxonomy: Lib L_MC1P_MotionControlBasic
AKB-ID: 202100146
Last update: 2023/09/09
Category: Version Informations

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