Which products are concerned?
Template Positioner as of V3.3
Problem description:
In the activated template status 'Positioning', the drive travels to the software limit position (when the home position is known) or to the maximum internal positioning value (when the home position is not known) although no positioning process had been started.
When does the problem occur?
Setting g_bHoldBackProfiles=TRUE activates a function in the template with which an interrupted profile can be continued. Therewith, the described behaviour occurs when after an interruption of the status 'Positioning' (e. g. due to a FailQSP) the status 'ManualJog' or 'ReleaseLimitSwitch' is activated before enabling the status 'Positioning' again.
Possible diagnostics?
When the drive shows this behaviour, the interrupted profile is indicated as the current profile directly after enabling the status 'Positioning'. However, the target position is not the set profile position but the software limit position or the maximum internal position value. In addition, this maximum internal position value is also indicated as the target position (g_dnTargetPosition=2147483647) of an axis which has not been homed.
Short-term measures/recommendations?
Using manual positioning or the function for retracting from a limit switch after a profile interruption has to lead to g_bHoldBackProfiles=FALSE when enabling the status 'Positioning' again.
Evaluation
That the drive moves when the status 'Positioning' is enabled and although no additional profile had been started, is part of the automatic profile continuation function. The restriction consists in travelling to a wrong target position. The drive is still controlled by the profile generator and stopps at the software limit positions at the latest. The restriction doesn't necessarily occur already during comissioning but can definetely be reproduced.
