Error message 'InternalError (0B040001)' in robotics applications and C axis movement with invalid input values for the profile generator (corrected from V03.21.00)
Corrected from:
Library: L_MC1P_MotionControlBasic (FAST Motion) from V03.21.00.102 (Update via Package Manager)
Response of the new version:
The calculations of the profile generator within L_MC1P have now been corrected so that the described error message no longer occurs.
What happens?
The error message 'L_MC4P_InternalError (additional dwInternalID: 16#0B040001)' occurs.
When does the behaviour occur?
Robotics applications (L_MC4P) and
Application of a movement to the same position or a movement with a very small distance to be moved (xyz distance in space or movement of the C axis, or the auxiliary axis(es), if any).
The error message is caused by numerical deviations of the profile generator (L_MC1P) when calculating velocity profiles for path or rotation axes. This behavior can occur when positioning is performed with a particularly small position difference, typically less than 1e-8. Due to rounding effects, the behavior can also occur when the same target position is applied twice in a row.
Which products are affected?
Library: L_MC1P_MotionControlBasic (FAST Motion)
Indirect effects on robotics applications: L_MC4P as of V03.19.00: Motion profiles are checked for plausibility before they are released for interpolation and an error message is output if necessary. L_MC4P previous versions: The implausible input values are also invalid, but there is no plausibility check to generate an error message. Corresponding effects on the drive behavior can occur
