Corrected from:
L_MC4P_RoboticHandling (from V03.34.00)
Behavior of the new version:
The position jump will not occur.
Description of the behavior:
After rebooting or reset cold / reset warm of the application, the positions of the auxiliary axes jump to zero and ramps back to the correct position within the time, parametrized in Subindex 42 (ramp time s-shaped ramp).
Typically, the position jump leads to a following error in the drive, if the error threshold is parametrized to an appropriate value
Conditions under which the behavior occurs:
- First movement of the robot / axes group after reset cold/warm or reboot
- Subindex 41 of the axes group set to "global ramp time [1]"
- Subindex 42 of the axes group > 0
- Auxiliary axes are configured in the axes group
- The mechanical position of the auxiliary axes is <> 0 before the first coordinated movement
Affected products:
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measure, recommendations, evaluation:
After rebooting the project, a first tiny movement without having the global ramp time active should be performed. After finishing the movement, the Subindex 41 of the axes group can be set to "global ramp time [1]" again, e.g. by using the fb L_MC4P_WriteParameter.
