Fault with function 'LockToCam' in connection with feed profiles

Which products are affected?
ESP-SPAC-CAM1 – Software Package Cam V1.1 (template cam)

What happens?
With feed profiles (yEnd unequal yStart), jumps occur at the motor shaft and lead to following errors after positioning to profile position ('LockToCam') has been completed.

When does the problem occur?
The problem occurs sporadically if

• feed profiles are preselected in template cam (g_bCircularAxis = TRUE), and
• the x-value of the profile jitters around the clock-pulse limit (e.g. with external master value encoder or encoder emulation of the master servo controller), and
• positioning to the profile position has been completed.

Possible diagnostics?
Since the fault cannot be reproduced systematically, it is difficult to carry out diagnostics. However, via the template visualisation, you can check if the master value exceeds the clock-pulse limit due to jitter (change between 0 and xmax): see graphic  

Short-term measures/recommendations?
Ensure that the master position does not permanently exceed the clock-pulse limit: With digital frequency selection, you can use the function block L_CamLimitVelocity for this. The function block allows only one direction of rotation in the master value.

Evaluation
The fault occurs sporadically with feed profiles (yEnd unequal yStart) if positioning to profile position ('LockToCam') has been completed and the master position exceeds the clock-pulse limit.