Which products are affected?
Positioner Software Package V3.1
LenzeMotionControlV3.lib
What happens?
If the jerk-reduced profile is cancelled, the jerk reduction is adhered to with priority. The target position can be exceeded.
When does the problem occur?
If a jerk-reduced profile is cancelled (g_bPositioningEnable = FALSE) during the output of the 'acceleration phase is active' status (g_nPosProfilerState = 10) and the entry for the jerk time is not plausible. A jerk time is not plausible if it has not yet expired when reaching the constant velocity phase i.e. the parameterised jerk time is longer than the actual acceleration time with a linear profile. In this case the profile generator treats the adherence of the S-smoothening with priority and depending on the position on which the profile has been cancelled the target can be exceeded.
Possible diagnostics?
If the actual target position is exceeded in case of a profile cancellation and if the jerk reduction is used, specific signals should be checked. Oscilloscope traces of the following signals are to be made: g_nPosProfilerState, g_wMotionProfileNumber, g_dnActualPositionInternal_p, MCTRL_nNAct_a.
Short-term measures/recommendations?
None. The profiles must always be entered plausibly.
Evaluation
The behaviour can possibly not be detected during planning or commissioning since the profile interruption must be within a specific range of the positioning profile. It only occurs if implausible jerk times are entered. In some applications, the machine or product can be damaged if the target is slightly exceeded.
