Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) V03.17.00.226
(update via package manager)
Response of the new version:
Now the calculated target position will be approached exactly as well, when the POU is activated during a movement.
What happens?
When using MC_MoveRelative, the calculated target position is not approached exactly if the POU is activated during a movement.
The following target position should be approached:
lrTargetPosition = lrSetPosition + lrDistance
Actually, a target position shifted by the delta path of one task cycle is, however, approached.
When does this behaviour occur?
MC_MoveRelative is activated during the movement of a motion axis.
Which products are affected?
Library: L_MC1P_MotionControlBasic (FAST Motion)
Short-term measures:
Use the following calculation to correct the distance to be traversed:
lrDistance = lrTargetPosition - lrSetPosition - (lrSetVelocity * lrTaskCycle);
Evaluation/recommendations:
