L_MC4P - portal 4dof: AxisLimitViolation error occurs during homing if the C axis is configured as a 'Modulo' axis instead of a 'Limited' axis (corrected from V03.16.00)
The C axis doesn't changes to the error state as described anymore now.
What happens?
During homing, the real axis assigned to the C axis changes to the error state.
The error message 21007 'AxisLimitViolation' is output.
When does this behaviour occur?
The behaviour only affects robotic applications with C axis if the real axis assigned to the C axis is a 'Modulo' axis.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures:
Configure the real axis assigned to the C axis as a 'Limited' axis.
Please note: If the C axis continuously rotates in the same direction, the position values of the assigned real axis will continuously increase. Due to the internal floating-point representation, this may lead to inaccuracies in the case of high values. For this reason, the position must be reset at regular intervals via an MC_SetPosition FB.
