The factory uses the GRAMM ice cream linker. Previously, the drive system was implemented on the basis of Allen-Bradley. Our organization replaced them with Simotion D425-2DP (D425 controller, power module, 4 drive modules and the last brake module). Engines SAM1, 2, 3 are the same.

Before the upgrade, the linker worked with a productivity of 2500 trays / hour. With such a productivity, the time for moving the axes SAM1, SAM2 is no more than 500 msec. We get > 2000 mm/s (acceleration and deceleration).

With a productivity of 1500 trays / h, the control system works normally, and with an increase in speed, periodically (happens immediately or after 15 minutes of operation) the SAM1 (2) drive during movement to the point, without stopping, crashes into the fence at a speed and flies off to the other side.

The movement of the mechanisms is carried out along the guide (belt drive). The distance from a given point to the fence a few millimeters. One gets the impression that during acceleration (deceleration) a drive error occurs, axis retention is turned off, and the mechanism moves further inertia.

Video files:

https://drive.google.com/file/d/1HMTvkpWqQByuJ9vs4ncAH-udhEYneFcL/view

Infeed. r70 (DC link voltage) < 320V - normal ?

r26, r27 - not found in Trace Signal Selection/