Removed from:
Bibliothek: L_MC1P_MotionControlBasic (FAST Motion) ab V03.33.xx (in planning)
Behavior of the new version:
For the quick stop (QSP-Appl) ramp, the actual speed corrected by the communication dead time is now used as the initial speed.
Description of the behavior:
During an application quick stop (Qsp-Appl) or error stop, a speed jump occurs during accelerated movements The jump height corresponds to the speed change in the last approx. 5 PLC cycles before the stop occurs.
The behavior therefore leads to a relevant influence on the machine behavior, especially with dynamic movements and longer cycle times >2 ms.
In both stop scenarios, the drive is switched to speed control for the stop ramp and the stop is performed by ramping down the target speed.
Conditions under which the behavior occurs:
- An application quick stop (Qsp-Appl) or ErrorStop is triggered and
- the axis is currently in an acceleration or deceleration phase.
Affected products:Library: L_MC1P_MotionControlBasic (FAST Motion)
Short-term measures, Recommendations,evaluation:
The following code can be used to set that no setpoint/actual value adjustment is carried out for a QspAppl and for the PLC-controlled error stop ramp and that the control mode is not switched over.
pxDummy := ADR(<<Axis>>.xUseFastStopBehaviour); pxDummy^ := FALSE;
ACHTUNG! In this case, it must be ensured that the reaction of the tracking error-monitoring is set to 'Quickstop in drive': Fault->inv. QSP [20]
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