Which products are affected?
Template Positioner as of V3.4
What happens?
The current set velocity which is output via g_nSetVelocity_v does not correspond to the actual internally set velocity of the profile generator if a quick stop (QSP) has been requested. The variable keeps the value of the parameter cycle which has been saved last before QSP has been requested.
When does the problem occur?
The problem occurs if in the 'Positioning' state of the template a quick stop (QSP) is requested without any further measures.
Possible diagnostics?
The quick stop (QSP) request is activated out of the 'Positioning' (g_byOperationState =Positioning) state of the template while the axis is rotating. In addition, the control variable g_bPositioningEnable has not been reset to FALSE before. As a result, the g_MCTRL_bQspOut_b=TRUE variable signals that a quick stop has been/will be executed via the motor control (MCTRL). g_nSetVelocity indicates a static value unequal zero which corresponds to the last setpoint of the profile generator before the quick stop has been activated.
Short-term measures/recommendations?
If the user applies the set velocity for further processing or evaluation purposes it has to be considered that the result is incorrect if the quick stop request is selected. This has especially to be considered if the set velocity g_nSetVelocity_v is passed on to a slave drive since the slave axis must also follow the master axis in case of a quick stop.
Ideally, the quick stop request is not used in the master drive in case of such synchronous operation applications to decelerate a drive network in a controlled way. Alternatively, e.g. a positioning in 'Speed' mode with the requested delay and zero velocity could be used.
Evaluation:
The g_nSetVelocity output represents the speed precontrol output of the profile generator. Lenze does not recommend using it as global setpoint source for slave drives. The use of this signal depends on the application.
