L_MC4P - MC_TrackConveyorBelt: Under certain conditions, a position step change may occur when clutching in (corrected from V3.13.1)
Corrected from: Library: L_MC4P_RoboticHandling (FAST Motion) from V03.13.01.23 (contained in the PLC Designer from V03.13.01)
Response of the new version:
When clutching in for tracking there no longer occurs any position step change in the axes involved.
What happens?
When clutching in for tracking there may be position step change in the axes involved.
The position step change occurs for the remaining time 'Start Move2' until completion of clutching-in. The position step change corresponds to the distance that has already been traversed during the clutch process.
When does this behaviour occur? MC_TrackConveyorBelt:
- The clutch-in process of tracking takes longer than the processing of the first 'Move' command in this PCS.
- The second 'Move' command in the same PCS is started after completion of the first 'Move' command, but before clutching in has been completed.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion) (contained in the PLC Designer)
Short-term measures:
1st option: Start the second 'Move' command in the same PCS immediately after the first Move FB reports 'Busy'.
2nd option: Start the second 'Move' command in the same PCS when the Conveyor Tracking function reports 'InSync'.
