L_MC4P_GroupTorquePreControl: Torque feedforward control not taking into account the influence of the setpoint filters (corrected from V3.16.0)

​Corrected from:
Library:   L_MC4P_RoboticHandling (FAST Motion) from V03.16.00.139  
                 (update via Package Manager)
 
Response of the new version:
The influence of the setpoint filters is taken into account.
In particular the influence of the "L_MC1P_AverageFilterSetValues" FB on the calculated feedforward control torque is taken into account.

What happens?
L_MC4P_GroupTorquePreControl:
The calculated torque feedforward control does not consider the influence of the setpoint filters on the drive axes. In particular, the influence of the "L_MC1P_AverageFilterSetValues" FB is not taken into account.
 
When does this behaviour occur?
The behaviour occurs when torque feedforward control via the "L_MC4P_GroupTorquePreControl" FB and filtering via the "L_MC1P_AverageFilterSetValues" FB are active at the same time.
Which products are affected?
Library:   L_MC4P_RoboticHandling (FAST Motion)
Short-term measures:

Evaluation/recommendations:
 

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201700379/1/
Meta data
Taxonomy: Lib L_MC4P_RoboticHandling
AKB-ID: 201700379
Last update: 2023/09/09
Category: Version Informations

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