L_MC4P: Linking Cartesian and MC_MoveDirect movements may lead to position step changes (corrected from V3.14.0)

Corrected from:
Library: L_MC4P_RoboticHandling (FAST Motion) from V03.14.00.00
(contained in PLC Designer from V03.14.00)

Response of the new version:

The described behaviour doesn't occur anymore.

What happens?

Under certain conditions, position step changes of 360° may occur in the real drive axes of an axis group.
This behaviour occurs if a starting position offset by 360° is calculated in the MC_MoveDirect leading to a setpoint position step change of the axis.

When does this behaviour occur?

The described behaviour occurs under the following conditions:

Cartesian movements are used (e.g. MC_MoveLinear or MC_MoveCircular) and the real axes are moved via MC_MoveDirect.
During the MoveLinear movement, an ACS axis of the axis group overtravels one of the position values [..., -540°, -180°, 180°, 540°, ...].
A movement of the real axes has already been requested via MC_MoveDirect before the Cartesian movement via MoveLinear has reached its target position.

Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
(contained in the PLC Designer)

Short-term measures:

Only request the MC_MoveDirect movement when the axis group has completed the Cartesian movement (PLCopen state "GroupStandby").

Evaluation/recommendations:

The described behaviour can be avoided by adapting the corresponding movement requests accordingly (see short-term measures).

If the described behaviour occurs, monitoring functions will respond and the axis group will be stopped and set to an error state.

Precondition: The monitoring functions for maximum speed and acceleration (subindex 45 and 46 of the drive axis) and the following error monitoring function (subindex 54 and 56) are activated and set correctly.

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201600002/1/