Corrected from:
Library: L_TT1P_StackerCrane as of V03.18.00.33
Response of the new version:
The jerk is now used for the jogging function.
What happens?
The axis accelerates with the maximum acceleration, possibly to the end of the travel range.
When does the behaviour occur?
The axis is operated in repair mode, in which all monitoring functions such as software limits, hardware limits and tracking error monitoring are deactivated.
The jerk limitation is set to a value that is far too small and not in line with practical requirements.
It is switched successively between jogging (xJog = TRUE) and stop (xHalt = TRUE).
Which products are affected?
Library: L_TT1P_StackerCrane
Short-term measures:
When using the jogging function, simply set xJog = FALSE to stop the movement. In addition, activating the xHalt function is not necessary and has no advantage. Furthermore, the repair mode is not suitable for normal setup operation (see evaluation/recommendations).
Evaluation / Recommendations:
The behavior described above is due to a known and already fixed function restriction in the L_MC1P library. For the jogging function in the old version no jerk was taken over and the acceleration within a PLC cycle was built up or reduced. Under these circumstances, if the xHalt function is activated immediately after the jogging function (in the following PLC clock), a very large acceleration value is taken over, which is then reduced via the jerk set (lrHaltJerk).
In case the parameterized jerk is much too small for the stop function (lrHaltJerk), a very long motion profile is calculated. If this is the case, the available distance within the travel range may not be sufficient to bring the drive to a standstill.
The parameterisation of the travel profile parameters should always be checked before commissioning the system, in particular the parameterisation of the jerk, acceleration and deceleration settings.
The monitoring functions should/must be activated during the operation of a system in order to stop the machine early in the event of a fault and thus avoid damage as far as possible.
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