Response of the new version:
GroupStop is executed correctly.
What happens?
In the case of a GroupStop, the activated motion profile is first completed, if necessary all 10 points.
After this, the position jumps back to the position at the time the stop function was activated.
When does this behaviour occur?
The behaviour occurs if a motion process is to be stopped via GroupStop while an activated motion profile (10 points) is being processed.
The motion profile may e.g. have been activated via the Pick&Place TM.
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures:
Set the jerk limitation for the path at least to a value higher than the following value:
lrPathJerk = MIN( lrPathHaltDec / lrTaskCyclusTime * 1.01, lrJerk ) ;
Evaluation/recommendations:
