Removed from:
Library: L_MC4P_RoboticHandling (FAST Motion) as of V03.32.00
(Update via Package Manager)
Behavior of the new version:
The axis group now stops as expected with the values created on the function block for deceleration and jerk
When controlling a stop of the axis group, the current override is no longer included in the calculation of the stop delay.
Description of behavior:
Override for axis groups:
The override valid for an axis group is also applied when the movement is aborted via MC_GroupStop, L_MC4P_AxesGroupBasicControl.xGroupStopExecute, or TM.xAbort.
If the override values are set very small, unexpectedly long stop ramps can occur.
The override value can be set e.g. be set using the following blocks:
- L_MC4P_GroupSetOverride,
- L_MC4P_AxesGroupBasicControl,
- L_TT1P_(Track-)PickAndPlace or
- L_TC2P_CoordinateMotionState
Under what conditions does the behavior occur?
- A coordinated movement is active and
- the override is set to a value between 0 and 1 (exactly: 1 > override > 0) and
- the movement is cancelled via MC_GroupStop or TM.xAbort, for example.
Affected products:
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Rating/Recommendations:
A possible remedy:
First bring the axis group to a standstill by setting the override value to exactly zero and only then cancel the movement.
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