Response of the new version:
Switching on the axis group and thus coordinated movement is prevented as long as the axes are not consistently parameterized.
The MC_GroupEnable reports an error when attempting to switch on.
What happens?
If the axes of an axis group are parameterized incorrectly, the FB MC_GroupEnable (or L_MC4P_AxesGroupBasicControl, as well as technology modules for axis groups) does not report an error, but switches the axis group on.
When does the behaviour occur?
If the axes of an axis group are not correctly parameterized. Essentially, if:
- A Cartesian axis x, y or z is configured as modulo
- The feed constant of a rotary axis is not set to 360°.
Note: In robotics, all rotary axes must be programmed in the unit [degrees].
- A Cartesian rotary axis is set to 'Limited' and an associated drive axis is set to 'Modulo'.
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Evaluation/Recommendations:
The permitted parameterizations for correct parameterization of the axes are described in the online help in the chapter Introduction to the axes groups (AXES_GROUP_REF) or Introduction to axis groups (AXES_GROUP_REF).
Automatic Translation
