Hello
we are experiencing an issue with all axes coupled with master via Automat , but this problem seems to be present from many years.
To explain, I start from the first situation I saw that using Mapp Legacy with mpAxisCoupling, drive Acopos Multi.
We have an application where one virtual axis with period 360000inc give its position to execute a cam profile of period 12000inc in one real axis. So every 12000inc of master, the cam is restarted from the beginning. Every time the machine is stopped in emergency state, we used to give a RESTART via fbAxisCoupling to let the internal automat recover the slave position and start again from the correct position.
After days of machine work (so a lot of master periods), after a restart of the axis coupling, the axis appeared to be not in the correct sync position.
Till I know that one cam is handled in the acopos as an automat instance, I decided to switch to mc_camin function block, to avoid the usage of automatic recovery given by the mpAxisCoupling block.
To reposition the axis to the right position from the master one we implement the get cam table position function block (MC_BR_GetCamSlavePosition). But, most important thing, internal drive automat is aborted and restarted every time, because it is triggered a mc_camout
This solved the issue.
But now, we have to use automat to trigger cam execution by some software event and the problem starts to reappear - even if we switched to the modern mapp motion 5.24.
Actual application is similar, but the master speed is higher, 60000 inc/s, and the cam period is 6000inc. At a certain moment, after hours of machine working, when it is stopped and a recovery of the position using MC_BR_CamAutomatPrepareRestart with MODE mcPREP_RESTART_SHORTEST_WAY is executed, the slave appears to be offset from its ideal position. Forcing an End automat this make the slave to reposition and to work correctly.
But, in this case, we cannot trigger an automat end as I did in previous solution, because containers could be in front to the axis
My idea is that after many master cycles, the automat does not work anymore fine and disalign with the actual and valid master position.
I already checked if master homing is perfomed, but this is executed in both application only at the machine startup.
Anyone that experience the same problem? any hint to debug and/or collect right data to block the machine to avoid breakages ?