Corrected from:
i950 firmware V01.10.00; Library L_MC1P_MotionControlBasic V03.31.0.53
Behavior of the new version:The Actual position 0x6064_0 is reconstructed as expected after restarting/mains switching.
Description of the behavior:
The Actual position 0x6064_0 is not reconstructed to the expected value after the i950 is switched off or restarted. However, the status 'HomePosAvailable' (0x500D_5 Bit5 = TRUE) incorrectly signals a successful reference reconstruction.
Conditions under which the behavior occurs
The restriction applies to applications of the TA CiA402 Advanced in a topology with 3rd-party motion controllers, in which the drive-based homing of the TA is used.
The following conditions must be fulfilled at the same time:
- The TA CiA402 Advanced is selected (0x4000 = 1).
- The reference reconstruction after mains switching is activated: Ref. pos. after mains switching 0x500D_81 = Retain [True].
- The Actual position 0x6064_0 was set or one of the possible reference modes was executed in CiA Operation mode 0x6060_0 = 6: Homing.
Setting the position 0x6064_0 to the Actual position start value 0x2983_0 can be done using different methods: - Inverter control word 0x2830_0 Bit 5 = TRUE
- or 0x6040_0 Bit 15 = TRUE
Affected products:
- Servo inverter i950 with purely parameterisable TA CiA402 Advanced (0x4000 = 1)
- Or Servo inverter i950 with modified TA CiA402 Advanced (Library L_MC1P_MotionControlBasic lower than version V03.31.0.53)
Short-term measure, recommendations, evaluation:
There is no short-term measure. The drive-based homing cannot be used meaningful.
Affected i950s must be updated to corrected software.
Possible effect of the restriction:
This behaviour can result in collisions with travel range limits or other moving machine parts, as the reconstructed position after mains switching does not match the real machine position.
