Which products are affected? ESP-SPAC-CAM1 – Software Package Cam V1.1 (cam library LenzeCamControl1.lib)
What happens?
A position jump occurs at the clutch output (L_CamClutchXAxis.dnPosOut_p). The error message 'FollowErrFail' or 'XYPosChangeLimit' is indicated.
When does the problem occur?
The problem occurs if the clutch is disengaged with a falling edge at L_CamClutchXAxis.bClose when the clutch is enabled (function block input L_CamClutchXAxis.bEnable = TRUE) and engaged and early re-engaged during the disengagement phase (deceleration ramp to standstill).
The problem can also occur if the clutch is engaged with a rising edge at L_CamClutchXAxis.bClose when the clutch is enabled (function block input L_CamClutchXAxis.bEnable = TRUE) and disengaged and early disengaged during the engagement phase (acceleration ramp to the master speed).
Possible diagnostics?
The problem can be reproduced by deactivating or activating the master value clutch during clutch engagement or disengagement using the function block input L_CamClutchXAxis.bClose. The problem also occurs in template cam because the function block L_CamClutchXAxis is used in the template.
Short-term measures/recommendations?
The engagement/disengagement command at L_CamClutchXAxis.bClose must only be changed if the clutch is fully engaged (L_CamClutchXAxis.bOpen = FALSE) or at standstill (L_CamClutchXAxis.bOpen = TRUE, L_CamClutchXAxis.bAccDec = FALSE). An impermissible control via the signal L_CamClutchXAxis.bClose can be prevented by a corresponding interlocking with the status signals L_CamClutchXAxis.bAccDec and L_CamClutchXAxis.bOpen: see appendix
Evaluation
With the master value clutch, position jumps occur at the function block output L_CamClutchXAxis.dnPosOut_p if the clutch is re-engaged during the deceleration phase via the function block input L_CamClutchXAxis.bClutchXClose = TRUE. The signal interlocking in the appendix prevents the problem. It can also be used for template cam.
