Corrected from:
Library: L_MC4P_RoboticHandling (FAST Motion) V03.13.00.103
(Update via package manager)
Response of the new version:
A filter and a detection of direction has been implemented into the tracking function. Now the described behaviour will not occur anymore.
What happens?MC_TrackConveyor:
During intermittent operation of the conveyor axis, a change of direction is detected at low speeds (close to standstill) and the 'SynchronisationError' error message 21276 may occur.
When does this behaviour occur?
MC_TrackConveyorBelt:
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures:
Filter the actual speed, e.g. by means of a mean value filter.
When using an external encoder at the backplane bus, this can be done via a corresponding setting on the tab.
Make sure that there will be no change of direction of the actual speed at low speeds. E.g. by means of a corresponding tolerance range:
if ABS(lrActVel) < lrActVelMin then
lrActVel := 0.0;
end_if
Evaluation/recommendations:
