Fixed as of:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.33.00
Behavior of the new version;
For the quick stop (QSP-Appl) ramp, the actual speed corrected for communication dead time is now used as the initial speed.
Description of behavior:
During application quick stop (Qsp-Appl) or error stop, accelerated movements result in a speed jump. The jump height corresponds to the speed change in the last approx. 5 PLC cycles before the stop occurs.
This behavior therefore has a significant impact on machine behavior, especially during 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 setpoint speed.
Conditions under which the behavior occurs:
- One of the following is triggered:>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 specify that no target/actual comparison is performed for a QspAppl and for the PLC-controlled error stop ramp, and that the control mode is not switched.
pxDummy = ADR(<<Axis>>.xUseFastStopBehaviour); pxDummy^ := FALSE;
ATTENTION! In this case, it must be ensured that the response of the drag error monitoring is set to 'Quickstop in drive': Fault->inv. QSP [20]
[Automatic Translation]
