L_MC4P_DifferentialDrive2x2 and L_MC4P_DifferentialDrive3x3: Coupling of a linear with a rotary axis fails (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:
Rotative and linear ACS axes can now be coupled together.
The vector 'alrJCSPos' is correctly output in the units [mm] and [deg].


What happens?
L_MC4P_DifferentialDrive2x2 and
L_MC4P_DifferentialDrive3x3:
The FBs can only be used if either all axes to be coupled are linear axes or all are rotary axes.
The mixed coupling of a linear axis with a rotary axis fails. When switched on, the axis group reports the error 'RealAxisOutsideWorkingRange'.

Example of a Scara axis group: 
The coupling of the linear axis A3 with the rotary axis A4 fails.
Furthermore, the FB outputs 'alrJCSPos' in the SI units [rad] and [m] at the output instead of the units [mm] and [deg].
The vector 'alrJCSPos' is used for the applicative analysis and has no further functionality within the axis group.

When does the behaviour occur?
  • Coupling of rotary and linear ACS axes of an axis group with the function blocks L_MC4P_DifferentialDrive2x2 and L_MC4P_DifferentialDrive3x3.
Which products are affected?
Library: L_MC4P_RoboticHandling (FAST Motion), versions V03.20.00 to V03.26.00

Short-term measures / evaluation / recommendations:


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URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/202300033/1/
Meta data
Taxonomy: Lib L_MC4P_RoboticHandling
AKB-ID: 202300033
Last update: 2023/09/10
Category: Version Informations

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