i950 TA Cia Advanced: Unexpected compensation movement at SS2 or QSPAppl (corrected from V01.07.04)

Corrected from:

Servo inverter i950 with TA CiA402 Advanced (from FW 01.07.04)

Response of the new version:

The error behaviour has been corrected.

What happens?

There is an unexpected compensation movement via the position controller (tracking error reduction).

The axis does not remain at standstill as expected, but attempts to approach the setpoint position in 0x607A with up to the maximum control value.

When does the behaviour occur?

- Servo inverter i950 with TA CiA402 Advanced

- Save Stop 2 (SS2) or Quick Stop Application are activated in the CiaAdvanced application.

- Activation occurs when the axis is at standstill

- No valid setpoint position is transmitted to the axis from a higher-level controller (axis in speed control).

Which products are affected?

Servo inverter i950 with TA CiA402 Advanced (0x4000 = TA CiA 402 advanced [1])

Short-term measures:

In the higher-level controller the

Activate PDO mapping of the setpoint position (0x607A:000) in the PDO mapping in the higher-level controller
Copy the actual position (0x6064:000) to the setpoint position in the PDO mapping.

Evaluation / recommendations:

Automatic Translation

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