Removed as of:
Library: L_MC4P_RoboticHandling (FAST Motion) as of V03.32.00
Behavior of the new version:
The signals for the path velocity and acceleration are now generated separately from the resulting end effector velocity and acceleration.
In principle, the values specified below always describe target values:
- AxesGroup.lrPathVelocity and AxesGroup.lrPathAcceleration
These signals indicate the speed and acceleration along the programmed path without the influence of the superimposed conveyor movement. - AxesGroup.lrTCPVelocity
This signal reflects the resulting velocity amount of the end effector and, in addition to the path velocity, also contains the superimposed velocity due to the tracking and additionally the influence of setpoint-manipulating FBs (e.g. L_MC1P_Velocity).L_MC1P_AverageFilterSetValues) on the virtual Cartesian axes X, Y and Z. - AxesGroup.lrTCPAcceleration
This signal shows the resulting amount of acceleration of the end effector and, in addition to the path acceleration, also contains the centripetal acceleration transverse to the direction of movement, the superimposed acceleration due to tracking and additionally the influence of setpoint-manipulating FBs (e.g. L_MC1P_AverageFilterSetValues) on the virtual Cartesian axes X, Y and Z.
Description of behavior:
When ConveyorTracking is active, dthe path speed of the axle groups 'AxesGroup.lrPathVelocity' formed in two stages. When evaluating the path velocity within the application, the time of the evaluation is relevant.
Within the motion-determining function blocks, e.g. MC_MoveLinearAbsolute or L_TT1P_TrackPickAndPlace, the path speed is calculated without the influence of the speed of the conveyor belt.
The tracking influence is added at the end of the PLC cycle before the set values to be transmitted via EtherCAT are prepared. This results in the following behavior:
- The values lrPathVelocity and lrPathAcceleration contain the influence of the tracking from the previous PLC cycle within the sequence of the application until the active Move-FB is called.
- Afterwards, until the end of the cycle, the influence of the tracking is not included in the values.
- However, the influence of the tape speed of the current bar is included in the trace, which is always recorded last within a bar.
Under what conditions does this behavior occur?
- ConveyorTracking is active and
- the path speed of the axis group is applicatively evaluated.
Affected products:
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Rating/Recommendations:
Depending on the desired signal meaning, evaluate the path speed before or after calling the Move-FBs, according to the behavior described above. [Automatic Translation]
