L_MC4P: Position jump of -360° occurs with C-axis in 'Limited' mode ( corrected from V03.18.02)

​Fixed:
Library: L_MC4P_RoboticHandling (FAST Motion)  from V03.18.02.26
                      (Update via Package-Manager)
 
Behaviour of the new version:
Even if the C axis is parameterized as a limited axis, no position jump occurs any more.


Description of the behaviour:
At the transition between the path movement and the waiting time, a position jump of 360° occurs in the C axis.
 
Under what conditions does the behaviour occur??
It is moved beyond the position limits +/-180° if
  • the C axis is parameterized as a 'limited' axis and
  • the movement is executed via MC_MovePath using G commands (G1-G0 and G4-Tx), or
  • When the Cartesian movement (for example, MC_MoveLinear, MC_MoveCircular) is executed, the FB L_MC4P_GroupWaitTime is ordered.
Affected products:
Library:  L_MC4P_RoboticHandling (FAST Motion)
 
Short-term measures: 
Delay the commissioning of the FB L_MC4P_GroupWaitTime until the previous orbit movement reports 'Done
or parameterize the C-axis as modulo axis.
 
Automatic Translation 

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201900089/1/
Metadaten
Taxonomy: Lib L_MC4P_RoboticHandling
AKB-ID: 201900089
Last update: 2023/09/09
Category: Versions-Informationen

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