L_TT1P_StackerCrane: Oscillation Compensation (OC): malfunction during jogging (corrected from V03.23.00)

Corrected from:
Library: L_TT1P_TechnologyModules_LM from V03.23.00
             (Update via Easy Package Manager)

Response of the new version:
The function "Oscilation Compensation" can now also be used in jogging mode. The described behaviour no longer occurs.


What happens?
When jogging, a distance is unexpectedly covered dynamically in the opposite direction.
For the duration of the jogging operation, the axle switches to the speed-guided mode "csv". Afterwards, it switches back to the original mode, to the position-guided mode "csp", although the axle has not yet come to a standstill. This causes a position deviation (tracking error), which is immediately compensated via the control loops. The distance of the control movement can be several centimetres in terms of magnitude.
 
When does the behaviour occur?
Function module L_TT1P_StackerCrane:
  • The function "Oscilation Compensation" is executed together with Jogging. 
Which products are affected?
Library: L_TT1P_TechnologyModules_LM  from V03.19.00.25

Short-term measures:
  1. The tracking error monitoring should always be activated and parameterised sensibly (FAST Motion parameter):
     - Sub-index 54: "Tracking error: Monitoring effective" set to "Enabled [TRUE]".
     - Sub-index 55: "Contouring error warning threshold" and
     - Sub-index 56: Set "contouring error error threshold
     - Sub-index 59: Reaction on response of the tracking error monitoring: "Error-> FAST Stop [19]" (recommended)
     - Sub-index 48: "Delay QSP application": defines the delay of the FAST Stop in the event of an error
     - Sub-index 49: "Jerk QSP application": Jerk for the FAST stop.

  2. Deactivate the "Oscilation Compensation" function for the jogging function.
Evaluation / recommendations:
The tracking error monitoring is an important function for early detection of unusual behaviour of the machine and, if necessary, to bring the machine to a standstill in a guided manner. The tracking error monitoring should always be activated.
The correction of a small drag error described above may cause noticeable noise on the machine, which can be avoided by the short-term measures. 

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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: 202100131
Last update: 2023/09/09
Category: Version Informations

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