L_MC4P: Error stop possible when using auxiliary axes and jerk limitation (no modification planned)

​Corrected from:
Library:  L_MC4P_RoboticHandling (FAST Motion) V03.xx.xx.xxxx   (currently no modification planned)
                       (update via Package Manager)
Response of the new version:
(currently no modification planned)
 
 
What happens?
The axis group may perform an error stop.

When does this behaviour occur?
  • Auxiliary axes are used and
  • under the parameter Offset 0, subindex 41, the jerk limitation is set to "1: global S-ramp time" and
  • S-ramp time is set > 0, parameter Offset 0, subindex 42 and
  • during an open auxiliary axis sequence, an exact stop is executed on the path.
Which products are affected?
Library:  L_MC4P_RoboticHandling (FAST Motion)  V03.15.00.xx

Short-term measures, Evaluation/recommendations:
When using auxiliary axes within open auxiliary axis sequences, do not use the MC_BUFFER_MODE.mcBuffered and select a smoothing radius > 0.
When using auxiliary axes, set the jerk limitation parameter (Offset 0, subindex 41) to the default value "0: Jerk input on FB effective​" .
 

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201700079/1/
Meta data
Taxonomy: Lib L_MC4P_RoboticHandling
AKB-ID: 201700079
Last update: 2023/09/09
Category: Version Informations

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