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Description:
Runtime error while processing the mid-priority position controller functions if the cycle time of the cascade was reduced and the computing time load on the ACOPOSmulti3 or ACOPOS P3 is too high. The high priority controller functions are further processed with a rigid cycle.
This error is only registered on the 1. axis (channel).
Reaction:
Depending on the duration and the degree by which the cycle time is exceeded, subsequent errors can occur (e.g. speed jumps and lag errors).
Cause/Remedy:
CTRL_CYCLE_TIME_MODE unequal to 0 on all axes (channels).
Increased switch frequency F_SWITCH.
Increased current controller dynamics (halving current controller cycle time) ICTRL_MODE Bit0.
Set current filters are active ISQ_FILTER1_TYPE, ISQ_FILTER2_TYPE, ISQ_FILTER3_TYPE.
Repetitive Control active CMD_SCTRL_RC.
Cyclic Trace, recording several test data points.