During rounding (blending), the rotation axis traverses correctly. The direction of rotation in the rounding segments is internally calculated in such a way that the original traversing range of the corresponding rotation axis (without rounding) is not left.
What happens?
During rounding (blending), the rotation axis executes one revolution too many.
When does this behaviour occur?
- An axis group with at least one roation axis is used.
- A Cartesian path (e.g. MC_MoveLinear or L_TT1P_PickAndPlace) is executed with blending.
- At least one rotation axis (in general, axis A, B or C of the kinematics) is parameterised as a modulo axis.
- mcPositiveDirection or mcNegativeDirection is selected as rotation mode.
mcPositiveDirection: Rounding is so large that the starting position of the rotation axis becomes smaller than the target position (in the modulo measuring system) during rounding.
mcNegativeDirection: Rounding is so large that the starting position of the rotation axis becomes bigger than the target position (in the modulo measuring system) during rounding.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures:
Select a lower rounding value or use mcShortestWay.
