Response of the new version: The described setpoint step-changes no longer occur.
What happens?
An incorrect position setpoint is output for a limited time period of approx. 20 ms (dependent on control). This may lead to step-changes in the setpoint selection of the real axes.
When does this behaviour occur?
The MC_TrackConveyorBelt FB from the L_MC4P_RoboticHandling library V03.10.00.106 is used together with the following call sequence:
- Motion profile generation (e.g. by means of TM_PickAndPlace) and subsequent conveyor-tracking FB call.
If the call sequence is changed as follows, the behaviour will only occur for 1 ms:
- Tracking FB call and subsequent motion profile generation (e.g. by means of TM_PickAndPlace).
Which products are affected? - Library: Only L_MC4P_RoboticHandling (FAST Motion) V03.10.00.106
(contained in PLC Designer V03.10.00)
Short-term measures:
Use the previous L_MC4P_RoboticHandling library version V03.09.01.0011 and the following call sequence: - Infeeder and outfeeder first and then TM_PickAndPlace.
Evaluation/recommendations:
In dynamic applications, the arising setpoint step-change may lead to a clear response of the mechanics.
