Fixed as of:
L_TC2P_TechModulesCoordinatedMotionBasic (as of V3.34.0)
Behavior of the new version:
In the new version, the technology module switches after a lrOverride -induced standstill of the robot axes immediately to the STANDBY.
There is no longer an unnecessary dwell in the STOP state.
This completely prevents the previously incorrectly executed decoupling curve as soon as the axes are already at a standstill due to lrOverride = 0.
The module is thus available for new motion profiles without any delay.
Description of behavior:
The L_TC2P_CoordinateMotionState technology module remains in the STOP state for several seconds unnecessarily, even though all of the robot’s axes have already come to a standstill several seconds ago.
Only after this delay does the module switch to the STANDBY state, from which new profiles can be started properly again.
Conditions under which the behavior occurs:
This behavior occurs under the following conditions:
- A running profile is brought to a controlled stop via
lrOverride = 0.
This occurs if synchronization with a moving object has not yet been completed. - As soon as the robot has come to a standstill, the currently active profile is discarded via
xGroupAbort = TRUE. - As a result, the technology module switches to the STOP state, but remains there significantly longer than necessary before reaching the STANDBY state after a noticeable delay.
Affected products:
Library L_TC2P_TechModulesCoordinatedMotionBasic
Short-term measures, recommendations, assessment:
-The technology module remains in the
STOP even though the robot is already completely at a standstill.
During this time, an internal deceleration curve is incorrectly executed, which is actually intended to safely decelerate the robot away from a moving object.
→ This ignores the fact that, due to lrOverride = 0, there is already no movement.The STANDBY state is reliably reached; the module does not get stuck permanently in the STOP state.The duration in the STOP state corresponds exactly to the previously required engagement time with the moving object —regardless of the fact that disengagement is no longer technically necessary.No functional limitations:- No jerks or unexpected movements occur.
- Safety and motion quality are fully maintained.
- The behavior is purely time-based and therefore not functionally critical.
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