Response of the new version:
The behaviour described below doen't occur anymore.
What happens?
The function restriction only affects kinematics with orientation axes:
Under certain conditions, the orientation axis reports 'Software limit switch overtravelled' although the target position is within the workspace.
When does this behaviour occur?
The orientation axis (e.g. the C axis) and the assigned real axis are configured as 'Limited' axes.
The software limit positions are set as follows:
C axis : Positive software limit: +180
Negative software limit: -180
A4 axis : Positive software limit: +180
Negative software limit: -180
1st movement: MoveLinearAbsolute in the WCS to X0 Y0 Z-350 C180 ==> ok
2nd movement: MoveLinearAbsolute in the WCS to X0 Y0 Z-350 C0 ==> error 21125, software limit switch overtravelled
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Evaluation/Recommendations:
Add an additional travel request:
1st movement: MoveLinearAbsolute in the WCS to X0 Y0 Z-350 C180 ==> ok
2a movement: MoveLinearAbsolute in the WCS to X0 Y0 Z-350 C90 ==> ok
2nd movement: MoveLinearAbsolute in the WCS to X0 Y0 Z-350 C0 ==> ok
