L_TT1P_PickAndPlace: Axis does not smooth the last indicated radius if the auxiliary axis is distributed across interpolation points (eliminated from V3.10)

Eliminated from:
L_TT1P_TechnologyModules_LM V3.10.0.8

Behaviour of new version:

The intermediate points on the path to auxilary axis = 0 with blending radius > 0 are blended, too.

What happens?
Despite the programmed smoothening (lrBlendingRadius >0), the intermediate point is approached and it is stopped for one cycle.

When does this behaviour occur?

Each point on a path will be approached if the target position of the auxiliary axis is programmed and not smoothed. The intermediate points with auxiliary axis distance 0 will be smoothed. The intermediate points in which the auxiliary axis is smoothed (lrAuxPos = 999) will be smoothed.

Which products are affected?
L_TT1P_PickAndPlaceState technology module in L_TT1P_TechnologyModules_LM library (V3.9.0.62 and higher)

Short-term measures:

At the intermediate points, the smoothening function of the auxiliary axis (lrAuxPos = 999) should be used. The target position of the auxiliary axis should be programmed to the target point of the path. At the following path points, the distance of the auxiliary axis should be 0.

Evaluation/recommendations:

If the above short-term measure is observed, all required smoothening processes will be carried out at the intermediate points. For information on motion control for a path with auxiliary axis Aux1, please read the Online Help for the PLC Designer (chapter "Movement of the auxiliary axis Aux1).

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201500245/1/

Metadaten

Taxonomy: TM Pick and Place , TM Basic Motion , TM Cross Cutter , TM Electrical Shaft Position , TM Electrical Shaft Velocity , TM Flex Cam , TM Flying Saw , TM Magic Track , TM Register Control , TM Smart Track , TM StackerCrane , TM Table Positioning , TM Temperature Control , TM Track Pick and Place , TM Traverser , TM Virtual Master , TM Winder Dancer-controlled , TM Winder Tension-controlled , FAST Motion Lib L_TT1P_LM
AKB-ID: 201500245
Last update: 2023/09/09
Category: Versions-Informationen

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