Discontinuous speed characteristic when stopping does not happen anymore.
What happens?
L_MC4P: Discontinuous speed characteristic when stopping and a low PathStop deceleration is set.
When does this behaviour occur?
The behaviour occurs if the deceleration selected for PathStop is lower than the normal deceleration.
I.e. if the ramp selected for PathStop is longer than the normal stop ramp.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion) ( L_TT1P_TechnologyModules_LM due to internal use of L_MC4P )
Short-term measures:
Select a higher deceleration value for PathStop than for normal deceleration: lrPathStopDec > ( lrParPathDec + 1 )
Evaluation/recommendations:
In practical operation, the deceleration selected for PathStop will be rather higher than the normal deceleration, so that the probability of occurrence of the described behaviour will be correspondingly low.
