L_TT1P_PickAndPlace: xExecutePickAndPlace with xStopAll leads to error state in the axis group (corrected from V3.13)

Corrected from:
L_TT1P_TechnologyModules_LM (V3.13.0.7 and higher)

Response of the new version:

If xStopAll = TRUE is set immediately after setting the xExecute input = TRUE, the axis group changes to the Stop state and the technology module changes to the Ready state.

What happens?

The axis group changes to "InvalidState". An error stop is executed. The eErrorID = 21230 "InvalidAxesGroupState" error message appears.

When does this behaviour occur?

The technology module is used as follows:

1. The PickAndPlace TM is activated (xExecute = TRUE)
2. After one PLC cycle,
3. StopAll is set to TRUE.

Which products are affected?

L_TT1P_PickAndPlace function block from L_TT1P_TechnologyModules_LM library (V3.12.0.9 and higher)

Short-term measures:

xStopAll should be delayed by 3x to 4x PLC cycles.

Evaluation/recommendations:

If the above-described short-term measure is observed, the xStopAll function does not lead to an error state if the activated path of the axis group is still in the path preparation process.

Note: Executing the xStopAll function during synchronised movements of the axis group may cause an error message.

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201600076/1/

Meta data

Taxonomy: TM Basic Motion , TM Cross Cutter , TM Electrical Shaft Position , TM Electrical Shaft Velocity , TM Flex Cam , TM Flying Saw , TM Magic Track , TM Pick and Place , TM Register Control , TM Smart Track , TM StackerCrane , TM Table Positioning , TM Temperature Control , TM Track Pick and Place , TM Traverser , TM Virtual Master , TM Winder Dancer-controlled , TM Winder Tension-controlled , FAST Motion Lib L_TT1P_LM
AKB-ID: 201600076
Last update: 2023/09/09
Category: Version Informations

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