Lifted from:
Library: L_MC1P_MotionControlBasic (FAST Motion) as of V03.32.00
Behavior of the new version:
When SLS is activated, the current profile data (Acc/DecJerk) is used if the speed setpoint is less than the parameterized SLS speed.
If SLS is activated while the target speed is > of the parameterized SLS speed, it is decelerated to the SLS speed with linear ramps(Jerk = 0 units/s³) and the delay((V_Act-V_SLS)/t_SLS) resulting from the SLS delay time.
When the target speed has reached the SLS value, the parameters (Acc/DecJerk) of the profile generation take effect again.
Description of the behavior:.
When SLS is activated, non-expected profile parameters are used.
Under what conditions does the behavior occur?
If a driving profile (Jogging, MoveAbs, MoveRel, ... etc.) is assigned, the limiter takes effect.When a drive profile (Jogging, MoveAbs, MoveRel, ...) is assigned, the limiter always intervenes in the jerk specification of the deceleration ramps. SLS to the value "0s" (or a very small value) in subindex 151/153/155/157, the deceleration ramp is completely executed without a jerk.
Affected products:
Library: L_MC1P_MotionControlBasic (FAST Motion)
Short-term measures, Rating/Recommendations:
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