Which products are affected?
ESP-SPAC-CAM1 – Cam V2.0 software package (libraries
LenzeCamControl1V0200.lib,
LenzeCamControl2V0200.lib)
What does the response look like?
The motion profile displays discontinuity, which makes itself felt in the drive movement ('cracking' of the drive shaft).
When does the problem occur?
The problem occurs while points of motion profiles are being altered online if
- the cam points are altered for the runtime of the PLC relative to their original values via the function block L_CamEditProfileData and
- the profile number, whose grid points are altered online via L_CamEditProfileData, is identical to the profile number currently being run in an instance of the function block L_CamData (L_CamEditProfileData.wProfileNo = L_CamData.wProfileAct) and
- the motion profiles are in place in the absolute data model.
The problem remains, even following error-free completion of online alterations, if the new x and/or y end positions (xend, yend) of the motion profile are changed relative to the old x and y end positions.
Diagnostics options?
Compare the signals
L_CamEditProfileData.wProfileNo and
L_CamData.wProfileAct. If both signals display the same cam number and the points of this cam are set to new values via the function block
L_CamEditProfileData for the runtime of the PLC, the problem will occur.
Short-term measures/recommendations?
Make sure that motion profiles, whose grid points are set to new values via the function block
L_CamEditProfileData are not selected at any time in any instance of the function block
L_CamData while the points are being changed
(L_CamEditProfileData.wProfileNo <>
L_CamData.wProfileAct).
Proceed as follows:
- Use the signal input L_CamData.wProfileSet to preselect a different motion profile from the one whose grid points you wish to alter.
- Not until the newly preselected motion profile has actually been accepted in the function block L_CamData (L_CamData.wProfileSet = L_CamData.wProfileAct) should you start setting grid points via the function block L_CamEditProfileData.
- Not until all grid points of the altered motion profile have accepted the new values should the completely altered motion profile be called up again in instances of the function block L_CamData.
Use suitable handshake signals to prevent grid points from being written in a motion profile while it is being processed in
L_CamData.
Evaluation:
The behaviour occurs since the function block
L_CamData works with inconsistent data in the conditions described during grid point adjustment via the function block
L_CamEditProfileData. In practice, online grid point alteration must always be performed in the background. If you observe the measures listed under
Short-term measures/recommendations, you will not experience any unwanted grid point adjustment.
