The inputs lrAmpRatio , lrEigenFreq and eCompMode can be switched over during operation without switching off the FB. Advantageous for manual parameter optimisations and parameter tests as well as for adaptations to a changed machine behaviour (e.g. by different natural frequencies in a loaded and unloaded state).
The changes at these inputs are not directly accepted. Depending on the level of change, they are internally blended over a period of up to several seconds for limiting the velocity, the acceleration and the jerk.
Nevertheless, the blending may cause the limitations of the original motion to be exceeded minimally in case of certain parameter changes.
This especially concerns
- the mode change at the eCompMode input to "Inactive" from another mode.
- the mode change at the eCompMode input to "Fast" from "Medium" or "Robust".
- the increase of the natural frequency at the lrEigenFreq input
- the reduction of the amplitude ratio at the lrAmpRatio input
In these applications, you have to provide for a sufficient reserve in the axis limitations and, if required, in the safety system.