Corrected from:
- Library: L_MC4P_RoboticHandling (FAST Motion) V03.12.00.85
(contained in PLC Designer V03.12.00.177 and higher)
Response of the new version:
After initialisation, function block processing will be delayed until write accesses to parameters can really be executed.
What happens?
Function blocks report 'Done' (or 'Valid'), although the corresponding parameters were not written or the read out values are not correct.
When does this behaviour occur?
FBs concerned: FBs having write or read access to parameters.
e.g. L_MC4P_SetToolTransform, MC_SetCartesianTransform, MC_ReadCartesianTransform
If these function blocks are requested in the application within the first PLC cycles before the initialisation of the motor nodes in the device tree has been completed, the above maloperation may occur.
Which products are affected?
- Library: L_MC4P_RoboticHandling (FAST Motion)
(contained in the PLC Designer)
Short-term measures/recommendations: Query in the application if the value of the variables <AxisName>.wInitState = 100 and <AxisGroupName>.wInitState = 100.
In this case, the initialisation of the axes and axis groups has been completed successfully and the above behaviour will no longer occur.
Otherwise (wInitState <> 100), delay the FB requests.
Evaluation:
