L_MC4P: Jogging onto SW limit position in MCS triggers error message '21006', position can't be left via manual jog (corrected from V3.13.0)
Corrected from: - Library: L_MC4P_RoboticHandling (FAST Motion) from V03.13.00.103
(contained in PLC Designer V03.13.00)
Response of the new version:
After resetting the current error message, the axes group can be moved back into the valid operating range via manual operation now.
What happens?
If an error (e.g.: software/hardware limit position of the Cartesian axes (WCS) or the drive axes (ACS) overtravelled or workspace left) occurs during manual operation in the machine coodinate system (MCS) or in the product coordinate system (PCS_x), the axes group changes to an error state.
After this, the position can no longer be left by means of a manual jog command.
When does this behaviour occur?
- Manual jog in the MCS or PCS_x
- After an error has occurred during manual jogging.
Which products are afected? - Library: L_MC4P_RoboticHandling (FAST Motion) (contained in the PLC Designer)
Short-term measures:
- When using manual jog in the above-mentioned coordinate systems, keep an adequate distance to the software and hardware limit positions and the worspace limitations.
- Use the WCS and the ACS to approach the SW limit positions in the manual jog mode.
