Corrected from:
Library: L_MC4P_RoboticHandling (FAST Motion) (no modification intended)
(updated via Package Manager)
Response of the new version:
(modification of the described behaviour has not yet been planned)
What happens?
Blending provided for in the path profile is not executed, but an exact stop is performed.
During path planning, no blending segment is inserted and the exact reference point of the path is approached without rounding the path.
When does this behaviour occur?
Blending cannot be executed if:
- the path acceleration cannot be reduced to zero before the blending segment begins,
- the path speed cannot be reduced as far that the selected maximum acceleration during blending (centripetal acceleration) can be complied with.
- Furthermore, internal path preparation times also have an effect.
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
(contained in the PLC Designer)
Short-term measures, Evaluation/recommendations:
Due to the above-described effects, the path parameters can only to a limited extent be calculated in advance to avoid non-execution of blending.
Using the 'AxesGroup.TimeInPathListMin' axis group property, you can reduce the probability that roundings cannot be inserted.
If the value is increased, the time to the start of motion will, however, slightly increase.
Other aspects for reducing the probability of occurrence:
- Select a higher jerk limitation (jerk):
Faster acceleration and deceleration. As a result, the required speed reduction can be implemented over a shorter distance. - Select a higher acceleration value:
The maximum possible speed during rounding is increased (higher centripetal acceleration is permissible), speed has to be reduced less. - Increase the blending radius:
The larger the selected blending radius, the lower the resulting centripetal acceleration. The permissible path speed can be increased in compliance with the selected max. acceleration. - Make sure that there is only a small difference in speed between the blending segment and the preceding path segment.
Speed can be adapted over a shorter distance. - Internal delay times during path preparation have the same effect as a reduction of the distance available for speed reduction. These times cannot be exactly determined in advance.
