Removed from:
Library: L_MC4P_RoboticHandling (FAST Motion) as of V03.33.xx (in planning)
(Update via Package Manager)
Behavior of the new version:
The movement is processed correctly
Description of behavior:
In a commanded movement, the axis group stops before reaching the target position and remains in the GroupMoving state with PathVelocity = 0.
The cause lies in a tolerance-related InTarget detection, which is used to switch to the subsequent movement.
Under what conditions does the behavior occur?
- L_MC4P_RoboticHandling, axis group with at least 4 Cartesian degrees of freedom
- Multiple movements are commissioned, including some with exclusive commissioning of the rotation axes
- The difference in position of the rotation axes for movements without a translation component is very small, typ.
This is the case, for example, if the axes are switched off and on between movements and the last target position is then approached again.
Affected products:
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Evaluation/Recommendations:
In the movements, include a translation of min. 1 mm path length so that the InTarget detection is based on the path coordinate and works error-free.
[Automatic Translation]
