L_MC4P: Monitoring of SW limits responds incorrectly (corrected from V03.26.00)

Corrected from:

Library: L_MC4P_RoboticHandling (FAST Motion) as of V03.26.00

(Update via Package Manager)

Response of the new version:

The SW limit monitoring now works as expected.

What happens?

During path planning, a movement is incorrectly detected as being outside the SW limits.

The axle group goes into the error state.

When does the behaviour occur?

The SW limits of an axis do not enclose the zero position (i.e. both negative or both positive)
The TM (Track-) PickAndPlace is used.
OR
The property AxesGroup.ActualInterpolatedSegmentTargetMCS of the axis group, for reading out the current target position of the Cartesian axes, is called cyclically in the application.

Which products are affected?

Library: L_MC4P_RoboticHandling (FAST Motion)

Short-term measures / evaluation / recommendations:

The preliminary check of the SW limits in the path planning of the axis group can be deactivated via <<AxesGroup.CheckWorkspace := FALSE; >>.

In that case, only the SW limit check is active at runtime.

Automatic Translation