Response of the new version:
When checking the path geometry during path preparation, "TargetOutOfSWLimit" is no longer erroneously reported.
What happens?
In path preparation, a pre-interpolation is performed to check the path geometry.
During this process "TargetOutOfSWLimit" is erroneously reported.
When does the behaviour occur?
The occurrence depends on the start and target positions of the movement and only occurs if the following conditions are met:
- Axis group with rotary ACS axes
- Rotary axis is parameterized as 'Limited' axis and is moved beyond +/- 180°.
- SW end positions are parameterized and activated
Which products are affected:
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Evaluation/Recommendations:
To avoid this happening, you can disable the preinterpolation of the path by using a (non-visible) access method AxesGroup.CheckWorkspace := FALSE.
Please note: In this case, paths are also started that actually violate the SW limits of the Cartesian or real axes. The group is then only brought to a standstill via an ErrorStop when the SW limit is reached.
Automatic Translation
