MC_MovePath, setpoint filter and NC program: Axis group stops in GroupMoving state under certain conditions (corrected from V03.27.00)

Corrected from:

Library: L_MC4P_RoboticHandling (FAST Motion) from V03.27.00

(Update via Package Manager)

Response of the new version:

The movement is now also executed correctly under the conditions described below.

What happens?

NC programme (*.lpp file):

At the end of the waiting time (G04), the system does not switch to the following movement and the axis group remains in the GroupMoving state.

This deadlock state can be left by triggering an 'MC_GroupStop'.

When does the behaviour occur?

WCS axes with activated setpoint filter (e.g. L_MC1P_AverageFilterSetValues) and
in the NC program a G04 command (waiting time) is followed by a Cartesian movement G01 (straight line) or G02/G03 (circle).

Which products are affected?

Library: L_MC4P_RoboticHandling (FAST Motion)

Short-term measures / evaluation / recommendations:

Insert a relative G0 command with distance 0 after each G04 (waiting time) in the NC program.

Implement the setpoint filtering on the ACS axes instead of the WCS axes.

Automatic Translation