Fixed as of:
Behavior of the new version:
Description of behavior:
The L_TV2P_StackerCraneAxisControlBase technology module correctly switches to the STANDBY state after completing a maintenance operation, but incorrectly sets the Mode of Operation to “Poscontrol motor feedback” instead of restoring the previously configured “Poscontrol ext. encoder” mode.
The originally active mode is lost during the process.
This behavior occurs under the following conditions:
- The technology module is set to the Maintenance state, e.g., to perform maintenance work.
- Upon entering Maintenance mode, the module switches the axis to the"Cyclic Velocity Mode" Mode of Operation.
- Meanwhile, the safety controller requests the SS2 function.
As a result, the technology module switches to the EXTERNAL state, since it is no longer permitted to control the axis itself. - The application then exits Maintenance mode.
- After the SS2 function is canceled, the technology module regains control and, as expected, switches to the STANDBY state.
- Error: At this point, the original mode of operation is not restored; instead, the "Poscontrol motor feedback" mode is set.
Affected products:
Library L_TV2P_TechModulesStackerCrane
Short-term measures, recommendations, assessment:
The technology module remembers the Mode of Operationbefore the
Maintenance stateis
activated . This allows the mode to be
restored when switching back to the
STANDBY state.
- The SS2 function switches the TM to the EXTERNAL state, meaning the axis is no longer controlled by the technology module.
- When function SS2 is reset, the technology module regains control of the axis; at this point, it no longer returns to the originally set mode, but always switches to the"Poscontrol motor feedback" mode.
- In this case, the desired mode can be reset outside the technology module in the application using the L_MC1P_SetControlMode function block
.
[Automatic Translation]
