L_MC4P - MC_MoveLinearAbsolute/Relative: Erratic position selection of auxiliary axis (corrected from V3.15.0)

Corrected from:
Library:  L_MC4P_RoboticHandling (FAST Motion) V03.15.00.200
                (update via Package Manager)
 
Response of the new version:
 
 
What happens?
Concerns kinematics with auxiliary axis: 
When using the 'MC_MoveLinearRelative' FB to control an auxiliary axis, the setpoint position of the auxiliary axis may change abruptly. 

When does this behaviour occur?
The behaviour occurs if the 'MC_MoveLinearRelative' FB is activated with a travel way length of '0' for the auxiliary axis.
E.g.:
MC_MoveLinearRelative.Position[7] := 0; 
MC_MoveLinearRelative.aeAuxMode[1] :=  L_MC4P_AuxMode.Continuous;
 
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
 
Short-term measures:
Set the operating mode of the auxiliary axis to 'Inactive' in the example:
MC_MoveLinearRelative.aeAuxMode[1] :=  L_MC4P_AuxMode.Inactive;
 
Evaluation/recommendations:
 

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201600629/1/
Meta data
Taxonomy: Lib L_MC4P_RoboticHandling
AKB-ID: 201600629
Last update: 2023/09/09
Category: Version Informations

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