L_MC4P: GroupStop of MC_MoveDirect does not detect end of stop ramp for modulo axes (corrected from V03.20.01)
Corrected from: Library: L_MC4P_RoboticHandling (FAST Motion) from V03.20.01.6 (Update via Package-Manager)
Response of the new version:
The GroupStop reports the completion of the movement via 'Done' signal and the axis group changes back to the GroupStandby state after the Execute input has been removed, now.
What happens?
The axis group stops until standstill (PathVel=0), but then remains in the 'Busy' state and there will be send out no 'Done' signal.
Also after resetting the 'Execute' the axis group still remains in the 'GroupStopping' state.
When does the behaviour occur?
At least one ACS axis has been parameterized as a modulo axis and a movement via MC_MoveDirect is aborted.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, :
To leave the GroupStop state after reaching standstill, the axis group must be set to the error state. This is possible, for example, by cancelling the controller enable of the axes. Then switch on the axes again and reset the error message.
