Corrected from:
Library: L_MC4P_RoboticHandling (FAST Motion) V03.13.01.23
(contained in the PLC Designer)
Response of the new version:
The described behaviour no longer occurs in 4D-kinematics with C-axis, even if the C-axis has been configured to a limited traversing range.
Setpoint and actual position are displayed without overflow within the axis group.
What happens?
On the C-axis, the displayed actual position performs a step-change from -179.9 degrees to + 180.0 degrees.
This leads to error message No. 21270.
When does this behaviour occur?
Robotics: 4D-kinematics with C-axis and
C-axis configuration to limited traversing range (subindex 030 = 1).
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
(contained in the PLC Designer)
Short-term measures:
Do not evaluate the actual position of the Cartesian C-axis (axis_C) in the controller, but the position of the real axis assigned.
On the real axis, there is no step change in the displayed actual position.
Evaluation/recommendations:
