Corrected from:
Library: L_MC4P_RoboticHandling (FAST Motion) as of V03.09.01.11
L_TT1P_TechnologyModules_LM (Pick&Place TM) as of V03.10.00.8
(contained in PLC Designer from V03.09.01 (service pack 1) )
Response of the new version:
When stopping an axis group in a controlled mode, no setpoint step-change will occur.
What happens?
A controlled stop of an axis group without leaving the programmed path, e.g. via the xPathStop input of the Pick&Place technology module or via the MC_GroupStop function block, leads to a setpoint step-change.
When does this behaviour occur?
The above-described behaviour may occur if the stop is activated shortly before a block change so that the resulting braking distance reaches beyond the block change. The function restriction only concerns co-ordinated movements of an axis group (kinematics), single-axis movements are not concerned.
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
L_TT1P_TechnologyModules_LM (Pick&Place TM)
(contained in PLC Designer)
Short-term measures:
Activate the setpoint monitoring functions in the axes concerned. For this, go to the following Motion axis parameters and select useful values for your machine:
Maximum speed (subindex 45)
Maximum acceleration (subindex 46)
Maximum jerk (subindex 47)
Evaluation/recommendations:
Stopping an axis group without the axis group leaving the programmed path may lead to a setpoint step-change. With the above-described short-term measures, you can reduce the effects of the setpoint step-change.
