L_MC4P: Tracking with WCS filter: Position jump in band direction possible (corrected from V03.23.01)

Corrected from:

Library: L_MC4P_RoboticHandling (FAST Motion) from V03.23.01.175
(Update via Package Manager)

Response of the new version:

The behaviour described below no longer occurs.

What happens?

When a setpoint filter is used, a position jump occurs in the direction of the belt by the distance that was synchronously moving until then.

When does the behaviour occur?

Set value filter (e.g. L_MC1P_AverageFilterSetValue) on the Cartesian axes (X,Y,Z),
Engage on a conveyor belt,
Completing all movements (e.g. MC_MoveLinearAbsolute.Done and MC_TrackConveyorBelt.InSync),
Before the setpoint filters have reached their stationary final value (output xInEqOut), a new movement is assigned,
either to another conveyor belt or to the already synchronous conveyor belt..

Which products are affected?

Library: L_MC4P_RoboticHandling (FAST Motion), only version V03.23.00.87 affected.

Short-term measures , Evaluation / recommendations:

Delay the commissioning of connection movements until all setpoint filters of the Cartesian axes report the signal xInEqOut.

Automatic Translation