L_MC4P MC_MoveSpline: When blending with several splines and a large blending radius, unexpected blending geometry occurs (corrected from V03.27.00)

Corrected from:
Library: L_MC4P_RoboticHandling (FAST Motion) from V03.27.00
              (Update via Package Manager)

 
Response of the new version:
The geometry of the blending is now calculated correctly, so that exceeding the limits of the defined workspace no longer occurs.


What happens?
MC_MoveSpline:
When chaining several splines one after the other (untypical application), the limits of the defined working space are exceeded under certain conditions. 
The monitoring of the SW end positions responds accordingly and the axis group changes to the error state.

When does the behaviour occur?
  • MC_MoveSpline: Grinding of at least three splines and 
  • the radius of the spline (TransitionParameter[1] or [2]) is parameterised to be so large that the resulting remaining length of the middle spline is less than 50% of the original length.
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion) 
 
Short-term measures / evaluation / recommendations:
Program the blending of splines via the transition parameter[2] (percentage blending) and set this value to a maximum of 20%. 
This corresponds to a 20% polish while retaining 80% of the original geometry. 
The monitoring of the SW end positions then does not respond in an unexpected way, as in the constellation described above.


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URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/202200376/1/
Meta data
Taxonomy: Lib L_MC4P_RoboticHandling
AKB-ID: 202200376
Last update: 2023/09/10
Category: Version Informations

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