L_MC4P: If the global slip time is activated and the override is changed, the speed and acceleration curves do not match the position setpoint (corrected from V03.21.04)
Corrected from: Library: L_MC4P_RoboticHandling (FAST Motion) from V03.21.04.30 (Update via Package-Manager)
Response of the new version:
The position, velocity and acceleration curves of auxiliary axes are now consistent with each other. The pre-control values are now calculated correctly.
What happens?
The courses of position, velocity and acceleration of auxiliary axes are not consistent with each other. As a result, the tracking error of the auxiliary axes can increase unexpectedly due to incorrect speed and torque feedforward in the drive control. The Cartesian axes, the rotary axes and the drive axes of the axis group are not affected.
When does the behaviour occur?
Axis group with auxiliary axis(s)
The parameter Offset 0 - Subindex 41 (jerk limitation) is set to the value 1: global slip time and
uring an active movement with change of position of the auxiliary axis(es) the override is changed.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Evaluation/Recommendations:
Accept the occurring higher tracking error and increase the tracking error tolerance accordingly. If possible (e.g. 9400HL), have the drive itself calculate the pre-control values from the position setpoint.
