Corrected from:
L_TV2P_TechModulesStackerCrane (from V3.29.0).
(Update via Easy Package Manager)
Response of the new version:
With the technology module L_TV2P_StackerCraneAxisControlBase, the y-axis executes the travel job even if the x-axis is still moving. In this case, the coordinated mode is deactivated if the travel task is started without the technology modules for the x- and y-axis not being in the STANDBY state.
What happens?
The L_TV2P_StackerCraneAxisControlBase technology module for the y-axis does not execute any travel jobs.
When does the behaviour occur?
Two instances of the technology module L_TV2P_StackerCraneAxisControlBase are used in one application. The first instance is defined for the positioning of the x-axis and the second for the y-axis.
Both technology modules are moved in a coordinated positioning via the setting scPar.eXYMode = 1 SyncStartStop. Setting the limits via scPar.scMinLimits defines the minimum values for the profile.
Both technology modules for the x and y axis are positioned with the mode: scPar.eXYMode = 1 SyncStartStop. In this case, the y-axis reaches the target position earlier because synchronous travel was not given due to the definition of minimum profile parameters. While the x-axis is still positioning, another job comes for the y-axis.
Which products are affected?
Library L_TV2P_TechModulesStackerCrane
Short-term measures:
Positioning in coordinated mode (scPar.eXYMode > 0) should always be commissioned when both technology modules for the x- and y-axis are in standby state. Alternatively, the coordinated mode should be switched off for the motion tasks (scPar.eXYMode = 0).
Evaluation / recommendations:
The incorrect condition of the technology module leads to the described behaviour. In this case, the freezing of the y-axis can no longer be acknowledged. Considering the short-term measure, the described case can be avoided.
Automatic Translation
