Changes made for Pathfinder 5226 controllers.

The 5226 controller has the capability to talk to drives through the Ethernet I/P protocol to control an axis. Ethernet I/P uses implicit messages to receive constant information from the drive like feedback and to control messages to tell the drive to do something like move to a position. The protocol then uses explicit messages to directly change or request a parameter in the drive. One of the drives added was the Indra Drive CS. For more information refer to:

SCN 4236 5226; Add New Ethernet I/P Driver IndraDriveCs

Two of the parameters sent over to the drive through the implicit messaging are the acceleration and deceleration. The 5226 controller calculates these parameters for the drive based on Pathfinders acceleration and deceleration parameters. The problem is that the calculation was being done incorrectly and the drive was not moving the motor in the way it was expected to.

The solution to this problem was the calculate the acceleration and deceleration correctly for the Indra Drive CS.