L_TT1P_PickAndPlace: Path motion stops if X, Y and Z move linearly while rotary axis turns (Portal_4dof) (corrected from V3.14.0)

Corrected from:
L_TT1P_TechnologyModules_LM (V3.14.0.21)

Response of the new version:

As long as no breakpoint is explicitly requested in the path, pathes with collinear path points will be processed without breakpoints.

What happens?

The path motion is stopped in the intermediate point.

When does this behaviour occur?

Three points P1, P2 and P3 are colinear (the three points are on a straight line). Different angles of rotation have been assigned to them (different positions on the C axis). The blending radius (lrBlendingRadius) for each point is zero.

Which products are affected?
L_TT1P_PickAndPlaceState technology module in the L_TT1P_TechnologyModules_LM library (V3.10.0.8 and higher)

Short-term measures:

If you select a blending radius (lrBlendingRadius) > zero in point 2, there will be no stop at this point.

Evaluation/recommendations:

If the above-described short-term measure is observed, the function will be provided without restrictions. The path can be defined such that point P2 will be overtravelled without stop.

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201600455/1/

Metadaten

Taxonomy: TM Basic Motion , TM Cross Cutter , TM Electrical Shaft Position , TM Electrical Shaft Velocity , TM Flex Cam , TM Flying Saw , TM Magic Track , TM Pick and Place , TM Register Control , TM Smart Track , TM StackerCrane , TM Table Positioning , TM Temperature Control , TM Track Pick and Place , TM Traverser , TM Virtual Master , TM Winder Dancer-controlled , TM Winder Tension-controlled , FAST Motion Lib L_TT1P_LM
AKB-ID: 201600455
Last update: 2023/09/09
Category: Versions-Informationen

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