Fixed as of:
i950 Servo Inverter FW: from V02.00.xx (planned)
Behavior of the new version:
When switching the "Mode of operation"(0x6060) to"Velocity mode (VL)", thecurrent speed setpoint is nowusedasthe initial speed for the speed ramp. This resulting drive behavior is smooth andlargely jerk-free.
Description of the behavior:
The speed ramp for "Velocity mode (VL)" has previously always been defined as 0 rpm when amode other than "Velocity mode (VL)" is set under 0x6060 "Mode of operation".
As a result, when switching from, for example, "Cyclic sync velocity mode (csv)" to "Velocity mode (VL)," the speed ramp always starts at 0 rpm.
If the switch occurs during a running motion, the speed jump causes erratic, jerky drive behavior.
Conditions under which this behavior occurs:
- Switching the "Mode of operation" to 0x6060 during operation.
Affected products:
i950 Servo Inverter FW
Short-term measures, recommendations, assessment:
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