All TMs: Slave axis races if xStop = TRUE and master is in an error state (eliminated from V03.22.00)

Corrected from:
Library: L_TT1P_TechnologyModules_LM from V3.22.0.19
(Update via Easy Package Manager)

Response of new version:

The functions xHalt or xStop can now be activated at any time.
In the slave axis, the initial values are now set correctly when changing to the stop phase, so that the described compensation movements no longer occur.

What happens?

The slave axis executes an unexpected movement when changing to the stop phase. The movement depends on the initial values of the profile generator and the currently effective profile parameters (delay, jerk, override).
When changing to the stop function, certain actual values are set as initial values for the profile generator (current speed, acceleration, deceleration, jerk). It can happen that erroneously highly excessive values are taken as initial values.
Due to the principle, a high initial acceleration in combination with a set low jerk can only be reduced very slowly. The resulting compensating motion can therefore be unexpectedly strong.

When does this behaviour occur?

All applications where slave axes are coupled to a master axis. For example, when using the function blocks L_TT1P_ElectricalShaftPos, L_TT1P_RegisterControl, L_TT1P_VirtualMasterHigh, L_TT1P_FlyingSaw and L_TT1P_FlexCam:
The master axis is locked (e.g. via STO or activation of the brake) and the error message "L_IE1P_Error.PowerFailDuringOperation" appears.
Subsequently, the slave axis is stopped via the xStop control bit.

Which products are affected?
Library: L_TT1P_TechnologyModules_LM

Short-term measures / Evaluation / Recommendations:

The adoption of excessive initial values can be prevented by checking the plausibility of the AxisSlave.lrSetAcceleration and AxisSlave.lrSetVelocity values of the slave axis before activating the stop function.
If an implausible jump is detected, generate the initial values by interpolation from the previous values. The stop function can then be ordered in the same clock cycle.

Automatic Translation

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201600474/1/

Meta data

Taxonomy: TM Basic Motion , TM Cross Cutter , TM Electrical Shaft Position , TM Electrical Shaft Velocity , TM Flex Cam , TM Flying Saw , TM Magic Track , TM Pick and Place , TM Register Control , TM Smart Track , TM StackerCrane , TM Table Positioning , TM Temperature Control , TM Track Pick and Place , TM Traverser , TM Virtual Master , TM Winder Dancer-controlled , TM Winder Tension-controlled , FAST Motion Lib L_TT1P_LM
AKB-ID: 201600474
Last update: 2023/09/09
Category: Release notes

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