i950, i750 Brake logic: Initial torque 0x60B2 via PDO is not correctly taken into account when releasing the brake (fixed from V01.11.00, V01.04.00)
Removed from:
Servo-Inverter i950 FW: from V01.11.00 Servo-Inverter i750 FW: ab V01.04.00
Behavior of the new version: brake logic: The applicative torque (0x60B2) specified via process data (PDO) is now taken into account when releasing the holding brake as follows:
0x2820:009 = 0 (initial torque equal last stored torque) initial torque = last stored torque (0x2820:021). 0x60B2 has no influence.
Description of behavior: brake-logic: The from the application via 0x60B2 specified value for the initial torque for smooth load transfer when the brake is released is not taken into account.
As a result, a more or less pronouncedshort-term sagging may occur when the brake is released until the torque required to hold the load has been built up. The existing position control ensures that the initial position prior to sagging is subsequently reached again.
Conditions under which the behavior occurs:
brake logic active (0x2820:001 = 0) and
cyclic setpoint interface is active (0x6060 = 8 or 9) and
Cia402 mode is active (0x2825 = 0) and
the process data PDO is activated (0x2824 = 1) and
specification of an initial torque via 0x60B2 and
the holding brake is opened
Affected products:
Servo-Inverter i950 FW: Servo-Inverter i750 FW:
Short-term measures, Recommendations, Rating: No corrective action available.
