The check for invalid target orientations in 4D kinematics is now correct again.
Incorrect target orientations are now rejected with the error message "InvalidTargetOrientation" when ordering movements.
What happens?
The check for invalid target orientations in 4D kinematics is now incorrect.
If the orientation is incorrect, the orientation of constant axes is always set implicitly instead of displaying the error message "InvalidTargetOrientation" and rejecting the request.
When does the behaviour occur?
Affects all kinematics with at least 4 degrees of freedom, e.g. Portal_4dof or Delta3_4dof.
Example 1:
Target orientation of an MC_MoveLinearAbsolute for a Portal_4dof and order in MCS:
A : MC_MoveLinearAbsolute.Position[4] := 0;
// Correctly, A := 180; should appear here, since the A axis must always have the constant value 180° in 4D kinematics.
B : MC_MoveLinearAbsolute.Position[5] := 0;
C : MC_MoveLinearAbsolute.Position[6] := 90;
Example 2:
Orientation change with MC_MoveLinearRelative for a Portal_4dof and assignment in the MCS:
A : MC_MoveLinearRelative.Distance[4] := 45;
// Correctly, A := 0; should appear here, since the A axis cannot be rotated with the kinematics.
B : MC_MoveLinearRelative.Distance[5] := 0;
C : MC_MoveLinearRelative.Distance[6] := 90;
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion):
only the versions L_MC4P >= V03.18.00 are affected
Short-term measures, Evaluation/Recommendations:
Workaround:
Always specify the orientations completely, with all three values A, B and C.
The described behaviour can lead to unexpected behaviour, especially when the PCS and / or relative orientation changes are assigned in PCS twisted to the MCS.
Automatic Translation
