L_MC1P Limiter: Setpoint jumps and offset between master and slave with activated SLS follower reaction (corrected from V03.26.00)

Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.26.00
              (Update via Package Manager)
 
Response of the new version:
The described discontinuities of the axle in follower operation no longer occur. 

 
What happens?
Motion axis as follower drive:
When the limited speed is activated via the limiter function, speed jumps can occur on the axle. 
Furthermore, the axis has a permanent position offset when it occurs in follower mode.

When does the behaviour occur?
The motion axis is operated as a follower drive, e.g. via the TM ElectricalShaft, TM SyncAndCorrection or the FB L_MC1P_FollowSetValues and
Case 1:
  • Limited speed follower operation is active (follower SLS response Sub160 = Enabled [TRUE]) and
  • speed follower mode is active and
  • at the time of activation of the limited speed by the limiter, the target speed of the axis is lower than the activated limited speed.
Case 2:
  • Limited speed in follower mode is active (follower SLS response Sub160 = Enabled [TRUE]) and
  • position follower mode is active and
  • there is a position offset between master and slave, e.g. by limiting the speed in follower mode, and
  • at the time of activation of the limited speed by the limiter, the target speed of the axis is lower than the activated limited speed.
Case 3:
  • Limited speed in follower mode is active (follower SLS response Sub160 = Enabled [TRUE]) and
  • Position follower operation is active and
  • SLS speed was previously activated for a short time, even if the limitation to SLS speed did not have to become active, and
  • the limited speed in follower mode is deactivated (follower SLS reaction Sub160 =Deactivated[FALSE])
Case 4:
  • Limited speed in follower mode is active (follower SLS response Sub160 = Disabled [FALSE]) and
  • Position follower operation is active and
  • SLS speed was previously activated for a short time, even if the limitation to SLS speed did not have to be activated, and
  • the limited speed in follower mode is activated (follower SLS reaction Sub160 = Activated [TRUE])
Which products are affected?
Library: L_MC1P_MotionControlBasic (FAST Motion)
 
Short-term measures / evaluation / recommendations:


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Meta data
Taxonomy: Lib L_MC1P_MotionControlBasic
AKB-ID: 202200199
Last update: 2023/09/09
Category: Version Informations

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