Response of the new version:
Correction has been done. The behaviour doesn't occur anymore.
What happens?
No other travel requests can be started because the AGBC remains in the 'Stop' state (Deadlock).
The 'Deadlock' state can be recognised by the fact that the AGBC remains in the 'Stop' state (TM.scStatusAGBC.eFunStateAct = L_MC4P_AGBC_State.Stop), even after an error reset.
When does this behaviour occur?
The behaviour occurs if the 'xStopAll' stop command for the 'L_MC4P_AxesGroupBasicControl' FB is interrupted by an error message.
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
( L_TT1P_TechnologyModules_LM due to internal use of L_MC4P)
Short-term measures:
If the function restriction occurs, the 'Deadlock' causing the behaviour can be removed as follows:
- If set to TRUE, set the internal variable <Axis group>.AGBC_int.xStopAllFreeze = FALSE via pointer access.
- Perform an error reset,
- activate xStopALL once again when the axis group is switched on (rising edge),
- set xStopALL to FALSE again.
Evaluation/recommendations:
You can make sure that the above-described behaviour will not occur when switching off the machine by setting the xStopAll stop command = FALSE before switching off the machine.
Of course, this is not possible in the case of an unpredictable mains failure.
