L_MC1P: Brake logic and limiter function in control: Brake does not engage in i950 with SafeStop1 (SS1) (corrected from V03.22.00)
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.22.00.87
(Update via Package Manager)
Response of the new version:
The holding brake is now correctly triggered to close even with SS1 and use of the limiter function in the control.
Background information:
The internal equating of the setpoint and actual values is now only carried out after the brake closing time has elapsed and the speed window of the standstill detection has been raised to 5 rpm.
What happens?
L_MC1P:
With Safe-Stop1 (SS1), the holding brake connected to the i950 is not applied immediately after the stop ramp is completed, but only when the safety function has triggered the subsequent STO command.
With SS1, the drive is initially decelerated actively and guided to standstill by the limiter functionality. Only at the end of the stop ramp is the brake triggered to close and then the inverter disabled.
The setpoints of the motion axis (position, speed) are set equal to the detected actual values during the entire process in order to keep the drive in this standstill position and to prevent further drifting.
The cyclic equating in combination with a too small speed window for the standstill detection leads in some cases to the fact that the reaching of the standstill is not detected and consequently the holding brake is not applied.
When does the behaviour occur?
Application with holding brake and safety function
Brake logic and limiter function in the controller
