Fixed as of:
Library L_MC4P_RoboticHandling (FAST Motion) from V03.33.00
(Update via package manager)
Behavior of the new version:
The movement is processed correctly
Description of behavior;
In a commissioned 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-affected InTarget detection, which is used to switch to the subsequent movement.
Under what conditions does this behavior occur?
- L_MC4P_RoboticHandling, axis group with at least 4 Cartesian degrees of freedom
- Multiple movements are commanded, including some with exclusive command of the rotational axes
- The positional difference of the rotational axes in movements without a translational component is very small, typically < 0.001°. This is the case, for example, when the axes are switched off and on again between movements and the last target position is then approached again.
Affected products:
Library: L_MC4P_RoboticHandling (FAST Motion)
Short-term measures, Evaluation/Recommendations:
Include a translation of at least 1 mm path length in the movements so that the InTarget detection is based on the path coordinate and works without errors.
[Automatic Translation]
