Corrected from:
- Library: L_MC4P_RoboticHandling (FAST Motion) V03.12.00.85
(contained in PLC Designer V03.12.00.177 and higher)
Response of the new version:
The stop ramp is completed without errors.
What happens?When traversing a precise stop ramp (MC_GroupStop, xGroupStop, xPathStop), the maximum value monitoring function (speed, acceleration) responds and the axis group changes to an error state.
When does this behaviour occur?
1. A path is being traversed (MC_MoveLinearXXX, MC_MoveCircularXXX or L_TT1P_PickAndPlaceXXX).
2. Path jerk and/or stop jerk are selected such that the acceleration/deceleration value is reached within one PLC cycle.
3. The stop ramp runs over more than one motion segment.
Which products are affected?
- Library: L_MC4P_RoboticHandling (FAST Motion)
(contained in the PLC Designer)
Short-term measures:
Limit the jerk such that acceleration and deceleration require at least two cycles.
Evaluation/recommendations:
