L_MC1P Limiter: Setpoint jumps and offset between master and slave with activated SLS follower reaction (corrected from V03.26.00)

Corrected from:

Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.26.00

(Update via Package Manager)

Response of the new version:

The described discontinuities of the axle in follower operation no longer occur.

What happens?

Motion axis as follower drive:

When the limited speed is activated via the limiter function, speed jumps can occur on the axle.

Furthermore, the axis has a permanent position offset when it occurs in follower mode.

When does the behaviour occur?

The motion axis is operated as a follower drive, e.g. via the TM ElectricalShaft, TM SyncAndCorrection or the FB L_MC1P_FollowSetValues and

Case 1:

Limited speed follower operation is active (follower SLS response Sub160 = Enabled [TRUE]) and
speed follower mode is active and
at the time of activation of the limited speed by the limiter, the target speed of the axis is lower than the activated limited speed.

Case 2:

Limited speed in follower mode is active (follower SLS response Sub160 = Enabled [TRUE]) and
position follower mode is active and
there is a position offset between master and slave, e.g. by limiting the speed in follower mode, and
at the time of activation of the limited speed by the limiter, the target speed of the axis is lower than the activated limited speed.

Case 3:

Limited speed in follower mode is active (follower SLS response Sub160 = Enabled [TRUE]) and
Position follower operation is active and
SLS speed was previously activated for a short time, even if the limitation to SLS speed did not have to become active, and
the limited speed in follower mode is deactivated (follower SLS reaction Sub160 =Deactivated[FALSE])

Case 4:

Limited speed in follower mode is active (follower SLS response Sub160 = Disabled [FALSE]) and
Position follower operation is active and
SLS speed was previously activated for a short time, even if the limitation to SLS speed did not have to be activated, and
the limited speed in follower mode is activated (follower SLS reaction Sub160 = Activated [TRUE])

Which products are affected?

Library: L_MC1P_MotionControlBasic (FAST Motion)

Short-term measures / evaluation / recommendations:

Automatic Translation