Hi community,
What’s happening
Coupled Y/Z agitation via ACP10 cam automat, slave = center + norm*distance (norm -0.5..+0.5,
Polynomial5 cam). With start 25 mm, distance 25 mm, cycle 10 s, accel 50 mm/s2 the Y axis runs
into its +SW end (54 mm) and errors.
In the trace:
- “Cam automat: Set position” stays bounded (~22..38 mm).
- “CTRL Set position” DECOUPLES from it and runs up to ~54 mm (SW end).
- “CTRL Set speed” peaks at ~54 mm/s, although limit.v_pos = 10 mm/s.
- Braking distance from 54 mm/s at 50 mm/s2 = v^2/(2a) ≈ 29 mm > amplitude (±12.5 mm),
so the setpoint can’t reverse inside the figure and overshoots to the SW end.
The cam has steep endpoint slope (Dy=±10) and sharp -0.5->+0.5 transitions.
Questions:
- Why does the cam automat generate a SET velocity (~54 mm/s) far above limit.v_pos (10 mm/s)?
Are axis v/a limits not applied to cam following / the synchronization (compensation) move? - Is CTRL set decoupling from cam automat set expected, or a config issue (compensation mode)?
- Recommended way to reject invalid distance/cycle/accel combinations BEFORE start instead of
running into the SW end?
What I’ve tested
- distance 20, accel 50: clean (±10 mm), no error.
- distance 25, accel 50: fails → +SW end.
- distance 25, accel 100: OK (braking distance ~15 mm) - but only shifts the limit.
- Traces confirm CTRL set diverges from cam automat set, and set speed ~54 mm/s >> 10 mm/s limit.
Software / hardware
- Automation Studio 4.12
- Automation Runtime J4.93
- ACP10/ARNC0 5.31.1
- mapp Services 5.24.5
- Hardware: ARsim
Error scenario:
Thank you in advance for the Help!