L_MC4P_AxesGroupBasicControl reports XFunDone twice with xStopAll and a certain timing (corrected from V03.18.00)

Corrected from:
Library: L_MC4P_RoboticHandling (FAST Motion) V03.18.00.121
                      (update via Package Manager)
Response of the new version:
The output xFunDone of L_MC4P_AxesGroupBasicControl will be processed correctly now.
 
What happens?
With xStopAll and a certain timing, L_MC4P_AxesGroupBasicControl reports xFunDone twice.
The xStopAll request is complete with the first xFunDone=TRUE.
 
When does this behaviour occur?
If the xStopAll request is cancelled in the cycle in which L_MC4P_AxesGroupBasicControl reports xFunDone, the following behaviour occurs:
  • L_MC4P_AxesGroupBasicControl changes again for two cycles to xFunBusy and State External,
  • after that, L_MC4P_AxesGroupBasicControl once again reports xFunDone for one cycle.
Which products are affected?
Library:  L_MC4P_RoboticHandling (FAST Motion)
Short-term measures: 
If the above behaviour occurs, ignore the second xFunDone.
Cancel the xStopAll request at a different time:
  • either earlier, as long as xFunBusy = TRUE
  • or later, when xFunDone = TRUE (at least two cycles applied).
 Evaluation/recommendation:
 

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Meta data
Taxonomy: Lib L_MC4P_RoboticHandling
AKB-ID: 201800086
Last update: 2023/09/09
Category: Version Informations

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