L_MC4P_MoveSpline: Incorrect path calculation if only one intermediate point is specified (corrected from V3.16.0)
Corrected from: Library: L_MC4P_RoboticHandling (FAST Motion) from V03.16.00.139 (update via Package Manager)
Response of the new version:
The path is calculated correctly now and there is no bend in the spline geometry.
What happens?
An incorrect geometry is calculated for the MoveSpline.
At an intermediate point (transition from the first to the second partial polynomial of the spline) there is a bend in the geometry leading to step changes in the speed characteristic.
When does this behaviour occur?
The behaviour occurs if only one intermediate point is defined in the case of a MoveSpline.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures:
Specify at least one more intermediate point along the required spline geometry.
