L_TT1P_TrackPickAndPlace: xPathInterrupt causes the TCP to drift into the end positions (fixed as of V3.30.1)

Removed from:
Technology module L_TC2P_CoordinatedMotionState from the library L_TC2P_CoordinatedMotionBasic (from V3.30.1.5)

Behavior of the new version:
The function xGroupPause = TRUE of the technology module (TM) L_TC2P_CoordinatedMotionState corresponds to the function xPathInterrupt des TM TrackPickAndPlace.

In cases a and b, the behavior is unchanged.

For the case c, when the robot is disengaged from the conveyor belt, the conveyor belt is disengaged, the path is continued to a standstill with the function xGroupPause = TRUE des TM L_TC2P_CoordinatedMotionState is stopped. The clutch is released and the robot is no longer synchronized with the conveyor belt.

In the technology module L_TT1P_TrackPickAndPlace from library L_TT1P_TrackPickAndPlace, no change will be made to this.

Description of the behavior:
In the engaged state of the axis group on a belt axis, the set values for the position of the TCP are made up of two components:

1. Target values from interpolation

2. Target values from tracking

The xPathInterrupt input of the TM TrackPickAndPlace causes the interpolation to stop (similar to Override=0), but the target value generation from the tracking continues.

This can lead to the TCP being moved to the workspace limit as it continues to move along with the belt via the active clutch.

This is not an error: If the override also affected the tracking, it would not be possible to commission a system with override < 100%.

Under what conditions does the behavior occur?
xPathInterrupt = TRUE Input of TM TrackPickAndPlace is triggered when tracking is active, if:

case a: the robot is coupled to an object on the conveyor belt ,

case b: the robot moves synchronously with an object on the conveyor belt or

case c: the robot already leaves the conveyor belt and disengages.

Affected products:

Technology module L_TT1P_TrackPickAndPlace from library L_TT1P_TrackPickAndPlace

Short-term measures:

To prevent driving to the workspace limit, the tape should also be stopped together with the xPathInterrupt.

Rating/Recommendations:

Should when active tracking the axis group temporarily (i.e. with the option of continuing the stopped movement), the xPathInterrupt input of the TM TrackPickAndPlace can be used for this purpose. It should be noted that the coupling is not canceled here. The TCP continues to move along with the belt. To prevent the belt from moving to the workspace limit, the belt should also be stopped together with the xPath interrupt.

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URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/202000382/1/

Meta data

Taxonomy: TM Basic Motion , TM Cross Cutter , TM Electrical Shaft Position , TM Electrical Shaft Velocity , TM Flex Cam , TM Flying Saw , TM Magic Track , TM Pick and Place , TM Register Control , TM Smart Track , TM StackerCrane , TM Table Positioning , TM Temperature Control , TM Track Pick and Place , TM Traverser , TM Virtual Master , TM Winder Dancer-controlled , TM Winder Tension-controlled , FAST Motion Lib L_TT1P_LM
AKB-ID: 202000382
Last update: 2024/07/25
Category: Version Informations

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