Which products are affected?
ESP-SPAC-CAM1 – Cam V2.0 software package (LenzeCamControl1V0200.lib library)
What happens?
When the operating mode is changed over from 'main' to 'auxiliary integrator' (L_CamControl.bSelMain = TRUE => FALSE), the actual position changes to the value at the L_CamControl.dnLoadAuxPos_p input.
When does the problem occur?
The problem occurs if the L_CamControl.bLoadAux input remains statically set to the TRUE state (e. g. if the 'home position available' signal is used as control signal for the input mentioned before) and when the operating mode is changed from 'main' to 'auxiliary integrator' (L_CamControl.bSelMain = TRUE => FALSE).
At the function block L_CamControl a negative edge at the L_CamControl.bSelMain input leads to the acceptance of a position in case of a TRUE level at the L_CamControl.bLoadAux input.
Possible diagnostics?
Although a new positive edge is not detected at the L_CamControl.bLoadAux control input, the position at the L_CamControl.dnLoadAuxPos_p input is accepted by the auxiliary integrator.
Short-term measures/recommendations?
Connect a function block for detecting positive signal edges (R_TRIG function block) upstream to the L_CamControl.bLoadAux input.
Evaluation:
When the cam profile operating mode is stopped, the functional restriction mentioned above leads to a change of the actual position in case of a steady-state setting of the L_CamControl.bLoadAux. The error does not occur in the cam template. The behaviour is reliably detected during initial commissioning.
