L_MC4P: Setpoint step-change when executing MC_GroupStop (corrected from V3.9.1)

​Corrected from:
Library:  L_MC4P_RoboticHandling (FAST Motion)  as of V03.09.01.11
                L_TT1P_TechnologyModules_LM  (Pick&Place TM)  as of V03.10.00.8
                (contained in PLC Designer from V03.09.01 (service pack 1) )

Response of the new version:
When stopping an axis group in a controlled mode, no setpoint step-change will occur.

 
 
What happens?
A controlled stop of an axis group without leaving the programmed path, e.g. via the xPathStop input of the Pick&Place technology module or via the MC_GroupStop function block, leads to a setpoint step-change.
 
When does this behaviour occur?
The above-described behaviour may occur if the stop is activated shortly before a block change so that the resulting braking distance reaches beyond the block change. The function restriction only concerns co-ordinated movements of an axis group (kinematics), single-axis movements are not concerned.
 
Which products are affected?
Library:  L_MC4P_RoboticHandling (FAST Motion)
                L_TT1P_TechnologyModules_LM  (Pick&Place TM)
               (contained in PLC Designer)
 
Short-term measures:
Activate the setpoint monitoring functions in the axes concerned. For this, go to the following Motion axis parameters and select useful values for your machine:
  • Maximum speed (subindex 45)
  • Maximum acceleration (subindex 46)
  • Maximum jerk (subindex 47)

Evaluation/recommendations:

Stopping an axis group without the axis group leaving the programmed path may lead to a setpoint step-change. With the above-described short-term measures, you can reduce the effects of the setpoint step-change.
 

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201500361/1/
Metadaten
Taxonomy: TM Pick and Place , Lib L_MC4P_RoboticHandling , 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: 201500361
Last update: 2023/09/09
Category: Versions-Informationen

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