L_MC4P: Error "AxisLimitViolation_RealAxis..." occurs when referencing to stop via AGBC/GroupHome (corrected from V03.20.01)
Corrected fronm: Library: L_MC4P_RoboticHandling (FAST Motion) from V03.20.01.159 (Update via Package-Manager)
Response of the new version:
The described behavior when referencing an axis group no longer occurs.
What happens?
After completion of a referencing (reference mode CwTorqueLimit or CcwTorqueLimit) via MC_GroupHome or L_MC4P_AxesGroupBasicControl the axis group goes into error state. Error message AxisLimitViolation_RealAxis... (Velocity or Acceleration).
When does the behaviour occur?
Maximum values are parameterized in the drive axes.
Which products are affected? Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures,Evaluation / Recommendations:
a) For referencing in the real axes, set the maximum values (parameters Sub45...47) to zero and enter the correct values again after referencing. b) Referencing by single axis homing (axis group is in GroupDisabled state and the monitoring function of the axis group is therefore inactive)
