L_TT1P_PickAndPlaceState: xPathInterrupt => parameter value for deceleration (corrected from V3.16.0)

Corrected from:
Library: L_TT1P_TechnologyModules_LM V3.16.0.62 (update via Package Manager)

Response of the new version:

When the xPathInterrupt function is activated, the override is set to 0. The lrORFeedingTime for the override is defined in such a way that the permitted deceleration will not be exceeded. If the path is, however, in the deceleration phase and the xPathInterrupt function is activated, an excessive deceleration value may occur because the two deceleration values from the path and the xPathInterrupt function are superimposed.

What happens?

The deceleration ramp lrPathDec is exceeded during deceleration.

When does this behaviour occur?

The behaviour occurs when activating the xPathInterrupt = TRUE function.

Which products are affected?
L_TT1P_PickAndPlaceState in the L_TT1P_TechnologyModules_LM library (V3.15.0.32 and higher)

Short-term measures:

Stop the path in a fashion that is accurate to the path by setting the lrOverride input = 0. The time in [s]for grinding the override is defined via the parameter scCtrlAGBC.scPar.lrORFadingTime.

Evaluation/recommendations:

When activating the xPathInterrupt function, the override is set to 0. The lrORFeedingTime for the override is not calculated, but estimated. As a result, the permitted deceleration is exceeded.

If the path switches to the deceleration phase and xPathInterrupt is activated in addition, the deceleration values might be exceeded because the two deceleration values from the path and the xPathInterrupt function are superimposed.

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201800007/1/

Meta data

Taxonomy: TM Basic Motion , TM Cross Cutter , TM Electrical Shaft Position , TM Electrical Shaft Velocity , TM Flex Cam , TM Flying Saw , TM Magic Track , TM Pick and Place , TM Register Control , TM Smart Track , TM StackerCrane , TM Table Positioning , TM Temperature Control , TM Track Pick and Place , TM Traverser , TM Virtual Master , TM Winder Dancer-controlled , TM Winder Tension-controlled , FAST Motion Lib L_TT1P_LM
AKB-ID: 201800007
Last update: 2023/09/09
Category: Version Informations

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