Corrected from:
Library: L_TT1P_TechnologyModules (FAST Motion) V03.18.00.33
(update via Package Manager)
Response of the new version:
The technology module switches to a defined error state (no FPU exception).
What happens?
An FPU (Floating Point Unit) exception occurs. The PLC application stops.
When does this behaviour occur?
A slave offset is parameterised. For this, the following parameters are used.
lrOffsetSlaveVelPos (maximum positive velocity for profile planning)
lrOffsetSlaveVelNeg (maximum negative velocity for profile planning)
lrOffsetSlaveAccDec (maximum acceleration for profile planning)
After that, the axis is clutched in (xSyncPos = TRUE) and the offset is executed.
While executing the offset, the set offset parameters are changed: lrOffsetSlaveAccDec = 0
Then, the master is stopped.
Which products are affected?
L_TT1P_ElectricalShaftPosHigh function block from L_TT1P_TechnologyModules_LM library (V3.15.0.32 and higher)
Short-term measures:
Make sure that the lrOffsetSlaveAccDec parameter is always greater than 0 when using the slave offset.
Evaluation/recommendations:
If the above-described measure is observed, the function restriction will not occur.
