L_MC1P: i950 with laser distance measurement system as 'external encoder': Unexpected movement after FastStop due to beam interruption
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.24.00.81
(Update via Package Manager)
Response of the new version:
The incorrect behaviour described below no longer occurs. After the end of the stop ramp of the application quick stop, there is now an automatic switchover to the quick stop in the inverter in order to keep the drive in position without drift.
What happens?
With position feedback via the i950's application encoder, an unintended movement is executed when the application QSP is executed and invalid position values occur from the position encoder, e.g. due to beam interruption with a laser distance measuring system.
Background:
During an active application QSP, the drive is stopped with speed control and the setpoint position is equated with the actual position in order to keep the drive drift-free at standstill. For this purpose, the inverter then remains enabled in position control. When using the second encoder of the i950, the position control is carried out accordingly via this encoder. Invalid position values from the encoder are compensated via the position control loop.
When does the behaviour occur?
Servo inverter i950 CiaAdvanced under a Lenze controller AND
Use of the second encoder for position feedback in the i950 AND
Quickstop application active in the controller,
e.g. as error reaction with setting in the controller: (0x5106:59) = Error>ApplQsp>QSP [19] AND
an invalid position value from the position encoder occurs.
