i950 TA and TM: A positioning abort by Severity Fault QSP (20) and Fault_QSP_CINH (21) is not detected (eliminated from V3.21.0)

Corrected from:
Library: L_TF2P_TechModulesFollowingPositioning from V03.21.0.53
(Update via Easy Package Manager)

i950 Servo-Inverter from FW V01.05.02

Behaviour of new version:

If active positioning is interrupted in the event of an error or by an external function (function outside the technology module), it is possible to use the "xFinishPositioning" input to complete positioning.

What happens?

The technology module is in an active positioning and this is interrupted by an external error reaction (e.g. L_IE1P_SetError). Now it is not possible to complete the positioning with the input "xFinishPositioning". This is problematic if a relative positioning was active.

When does the behaviour occur?

If an active positioning has been aborted externally (outside the technology module).

Which products are affected?

Function module L_TF2P_TablePositioningBase from library L_TF2P_TechModulesFollowingPositioning
i950 servo inverter with TA TablePositioning

Short-term measures:

With positioning modes "absolute" and "velocity", positioning can be continued by xStartPositioning and the specification of the correct profile number.
With the positioning mode "relative", the path already travelled must be stored and the resulting residual value must still be applied.

Automatic Translation

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201900239/1/