Corrected from:
Library: L_MC4P_RoboticHandling from V03.13.02.05
(download via Lenze Package Manager)
Response of the new version:
The set limit values of the Cartesian axes for the max. acceleration are considered, as expected.
What happens?
During path planning, the set limit values for the max. acceleration during blending are not considered,
although the axis group parameter 036 is set to 2 (velocity and acceleration). The occurrence of the error depends on the path geometry, the S-ramp parameters and the set limit values for velocity, acceleration, and jerk.
When does this behaviour occur?
The occurrence of the behaviour depends on the setting of the axis group parameter 034 'Task utilisation - path preparation'.
V03.13.01.23: The described behaviour occurs if 034 >=5.
With the following settings, the limitations are considered correctly: 034 <= 4 (1: Default).
V03.12.00.xx: The described behaviour occurs always.
Which products are affected?
Library: L_MC4P_RoboticHandling
(used in the L_TT1P_TechnologyModules_LM library)
Short-term measures:
From V03.13.01: Set the axis group parameter 'Task utilisation - path preparation' 034 to values <=4.
V03.12.00: None
Evaluation/recommendations:
Not observing the parameterised limitations during path planning may lead to a reduced path accuracy (higher following error) and vibrations may occur. In extreme cases, this may lead to mechanical machine damage.
