Which products are affected?
ESP-SPAC-POS1 (Software Package Positioner V3.1)
What happens?
During homing the drive does not stop at the home position as expected after detecting the touch probe signal but continues to traverse in its last direction of movement until being stopped by a stop command or the limit switch monitoring.
When does the problem occur?
This problem occurs with all homing modes in which a touch probe signal is evaluated. The signal can originate from the evaluation or simulation of a zero pulse of the encoder system via a digital input or the motor control (MCTRL).
In addition, the value of 2^30 increments of the integrator of the current position setpoint must be exceeded when moving towards the homing position. The current position setpoint is the target position for a cycle and is therefore recalculated with every cycle.
The value of 2^30 increments is reached if the input shaft has been moved in one direction for 16384 revolutions on the load side.
Regarding this, it is not decisive whether this motion is executed before or during homing. The integrator of the current position setpoint is not reset when starting the homing process. This may occur e.g. if the drive has been traversed to the value range limit of the integrator of the current position setpoint via external setpoints after starting the homing process or if the application requires a repetition of the homing run and the drive is also at the value range limit before restarting the homing process.
Possible diagnostics?
If the response described above has been observed it has to be ensured at first that the motor control has detected a touch probe signal at g_MCTRL_bActTPReceived_b and that the movement did not occur due to an offset entry under C3011.
Moreover, it should be checked whether a reduction of the traverse path (less than 16384 revolutions on the load side) before or during homing prevents the occurrence of this behaviour. If all factors described apply, it is very likely that the response occurred due to the function restriction.
If the failure does not occur anymore after exchanging the LenzeMotionControlV3.lib function block library for the current LenzeMotionControlV0303.lib library it is guaranteed that the behaviour has been caused by the failure.
Short-term measures/recommendations?
The failure is caused by the function library.
The failure has been eliminated with the more recent version 'LenzeMotionControlV0303.lib' of the Software Package Positioner V3.3 and corresponding following versions. It is principally possible to exchange the libraries. Incompatibility with existing applications are not to be expected unless the existing application uses 'function restrictions' which are included in version 3.1 and which have been corrected with version 3.3.
An update of the Software Package Positioner from version 3.1 to the current version 3.3 is provided in the download area on the Lenze homepage. By using this update in the form of a setup file the function block library required is copied to the PC into the program directory of the Drive Developer Studio DDS (…\ 9300SPLCv60000\Libraries).
Evaluation:
Usually, the traversing range is free from obstacles during traversing when searching for the home position. As a result, the machine or product are not damaged even if the home position is exceeded. Moreover, finite traversing ranges in which homing is executed are protected by traversing range limit switches. This or another stop command can immediately stop the drive. The occurrence of the failure can be reproduced and is usually detected during commissioning. The corrected software version has been distributed since the beginning of this year.
