L_MC4P: Path planning of the axis group reports unjustified error message 'MaxNumRevolutionsReached' (21313) in rare cases (fixed as of V03.26.00)
Removed from:
Library: L_MC4P_RoboticHandling (FAST Motion) as of V03.26.00
(Update via Package Manager)
Behavior of the new version:
The error message 'MaxNumRevolutionsReached' is now no longer displayed in the scenario described.
The axis group now executes the requested movement correctly.
Description of behavior:
The axis group reports the error message 'MaxNumRevolutionsReached' (21313) and switches to the ErrorStop state during the path planning of a movement without conveyor tracking.
The incorrect behavior is caused by the pre-check of the path geometry to comply with the software end positions .
Under what conditions does the behavior occur?
movements with and without Conveyor tracking is executed continuously without the axis group reaching GroupStandby status in the meantime
Affected kinematics:
Delta3_4dof
Scara_4dof
LinearDelta3_4dof
ArticulatedP_4dof
Both the C axis of the 4D axis group and the ACS axes that influence the C axis are Limited (not Modulo) Example:
Scara_4dof: A1, A2, A4 and C are Limited
Delta3_4dof: A4 and C are Limited
Affected products:
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Rating/Recommendations:
parameterize C-axis to modulo, if applicatively possible.
Using the axis group property <AxesGroup>.CheckWorkspace := FALSE to deactivate the check for software limits in path planning. The check for software limits is still carried out during the interpolation of movements.
