Corrected from:
i950 Firmware Version V01.07.04
Response of the new version:
Bit 12 Standstill of the fieldbus status word 0x50?0:110 is connected TA-internally with the status xStandstillActVeloctiy.
Bit 12 thus signals the identical status as bit 22 in the general motion status word 0x500A:5.
Important note for the use case 'device replacement':
The signalling of standstill via the fieldbus status word is no longer identical.
For example, bit 12 of the status word 0x50?0:110 can now toggle between TRUE / FALSE when i950 is enabled, if
the window standstill 0x500A:132 is not parameterised appropriately. The Lenze default is 0x500A:132 = 0 unit/s and
therefore unsuitable and must be adjusted if necessary.
What happens?
Bit 12 Standstill of the fieldbus status word 0x50?0:110 of all i950 TAs does not work as expected:
When operating as a position or velocity follower with a real master (encoder actual value or actual value of another axis), bit 12 toggles unexpectedly between TRUE / FALSE.
Window standstill 0x500A:132 has no effect when the i950 is enabled.
- In operation at a limitation of the motor control (torque or current) with speed setpoint = 0 rpm, a rotation of the axis is not signalled via bit 12 = TRUE.
When does the behaviour occur?
The function of bit 12 corresponds to the standstill monitoring of the setpoint speed.
Bit 12 is connected to the status xStandstillSetVelocity of the subordinate technology module.
In the case of behaviour 1., bit 12 toggles because the setpoint of the slave corresponds to the actual value of the master.
In the case of behaviour 2. the movement is not detected because the setpoint velocity is fixed at zero.
The window standstill 0x500A:132 is only effective if the i950 is disabled (Operation enabled = FALSE).
The behaviour occurs under the following conditions:
- Controller inhibit
- The setpoint of the TA is an actual value. (Encoder axis or master axis in controller inhibit). This condition only applies to the TA ElectronicGearbox and SyncAndCorrection.
Which products are affected?
i950 with Lenze TA (0x4000 ≥ 10) or
TA User based on a Lenze TA except CiA Advanced (0x4000 = 10000).
Short-term measures:
Bit 12 of the TA fieldbus status word cannot be meaningfully evaluated in the logic control for the two scenarios 1. + 2.
The standstill with consideration of the window standstill can be diagnosed using bit 22 of the motion status word 0x500A:5.
In applications with TA User based on a Lenze TA except CiA Advanced, bit 12 should be connected with the status xStandstillActVelocity.
Evaluation / recommendations:
As with all other Lenze sorvo inverters, it is expected,
- that for standstill detection the actual speed of the motor encoder is compared with the standstill window and not the setpoint.
- the window standstill 0x500A:132 defines the threshold from or up to which a standstill is signalled, regardless of whether the i950 is enabled or disabled.
In the general motion status word 0x500A:5, bit 22 Standstill active works as expected.
The fact that the behaviour of bit 12 differs from the fieldbus status word to the 0x500A:5 bit 22 is irritating for the user.
The limitations described may not be recognised during commissioning, but the effects only become apparent during production operation and possibly only sporadically.
A practical remedy for parameterisable TAs does not exist.
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