Which products are affected?
9300EP servo positioning controller version V2.1
What happens?
In terms of closed-loop control the filter in the generation of the precontrol causes an undesirable dead time which affects the dynamic response.
When does the problem occur?
Generation of velocity precontrol by differentiation of the external position setpoint POS-PSET-EXT, e.g. from external continuous path control, was provided with a filter within the POS block.
Possible diagnostics?
The differentiation performed within the POS block now supplies the same values as when formed via an external FB connection.
Short-term measures/recommendations?
Formation of velocity precontrol from the position setpoint by means of FB connection (new value minus old value).
Evaluation:
The basic function was executed nevertheless, but now the dynamic response is much better.
