Versions-History Lib L_MC4P_RoboticHandling

Version V03.32.00.0000

• L_MC4P: Coordinated movements: Improved calculation of path velocity profiles when reloading movements (from V03.32.00)

• L_MC4P: Axis groups and small override value: If a coordinated axis group movement is aborted, the stop ramp can last unexpectedly long (fixed as of V03.32.00)
• L_MC4P - Conveyor tracking: path velocity of axis groups 'AxesGroup.lrPathVelocity' not unique (fixed as of V03.32.00)

• L_MC4P: TM_TrackPickPlace: Movement sequence is not processed correctly, machine stops
• L_MC4P: L_TC2P_CoordinatedMotion: The SW limits can be reached for xGroupAbort with tracking
• L_MC4P - MC_MovePath: Output of the current line and line number is advanced one cycle later (no change planned)
• L_TC2P_CoordinatedMotionState: Kinematics stops with error message "master axis not ready"
• L_MC4P: Under rare conditions, error message 21233 - Internal error (16#05010012) occurs sporadically when a movement is aborted
• L_MC1P_DisableSWLimit no longer acts on axes that are connected to a kinematic system
• L_MC4P - MC_MovePath: Wartezeit G04 wird durch Override beinflusst
• L_MC1P, L_MC2P, L_MC4P: Standard visualizations of V03.20.00 can only be used with PLC-Designer from V03.20.00 on (no change intended)

Version V03.31.00.0000

• not existing

• L_MC4P_AxesGroupBasicControl: Stuck incorrectly in Busy state at GroupStop (fixed as of V03.31.00)
• L_MC4P: L_TT1P_PickAndPlaceState: Process gets stuck in 'Stopping' state (fixed as of V03.31.00)
• L_MC4P - MC_MovePath with auxiliary axes and variables in G-Code: Occurring error message "InvalidPathOrientation" (fixed as of V03.31.00)
• L_MC4P_PathRefFromFile: Tolerance for programming arcs using G-code can be adjusted by application (fixed as of V03.31.00)

Version V03.30.00.0000

• Signing of Lenze libraries

• L_MC4P: MC_TrackConveyorBelt mit 2dof-Kinematik: Es tritt eine Exception auf (behoben ab V03.30.00)

Version V03.29.00.0000

• L_MC4P: Internal calculation time for MoveSpline motion profiles significantly reduced (from V03.29.00)

• not existing

Version V03.27.00.0000

• L_MC4P_DifferentialDrive2x2 and L_MC4P_DifferentialDrive3x3: Changed FB inputs and FB outputs (from V03.27.00)

• MC_MovePath, setpoint filter and NC program: Axis group stops in GroupMoving state under certain conditions (corrected from V03.27.00)
• L_MC4P_DifferentialDrive2x2 and L_MC4P_DifferentialDrive3x3: Coupling of a linear with a rotary axis fails (corrected from V03.27.00)
• L_MC4P MC_MoveSpline: When blending with several splines and a large blending radius, unexpected blending geometry occurs (corrected from V03.27.00)

Version V03.26.00.0000

• L_MC4P: CNC program: Function interpreter stop (from V03.26.00)
• L_MC4P: Increased number of available M-functions per class (from V03.26.00)
• L_MC4P: Extended algebraic and arithmetic functions in G-code (from V03.26.00)
• L_MC4P: Blanking planes (dwSkipMask) for interpreting the CNC program are supported (from V03.26.00)
• L_MC4P_SetActiveTool: Setting also possible with released axis group (from V03.26.00)
• L_MC4P: MovePath supports the call of subroutines (from V03.26.00)
• L_MC4P: MovePath supports up to 6 auxiliary axes (from V03.26.00)
• L_MC4P, L_MC1P: Access to motion axes and axis groups in the PLC program only when using VAR_IN_OUT, otherwise compiler warning (from V03.26.00)

• L_MC4P: Axes not programmed in the NC program do not behave as expected with MovePath (corrected from V03.26.00)
• L_MC4P_WriteParameter, L_MC1P MC_WriteParameter: Value range check incorrect for parameters of axis groups (corrected from V03.26.00)
• L_MC4P: Path planning of the axis group reports unjustified error message 'MaxNumRevolutionsReached' (21313) in rare cases (fixed as of V03.26.00)
• L_MC4P: Monitoring of SW limits responds incorrectly (corrected from V03.26.00)

Version V03.25.00.0000

• not existing

• L_MC4P_PathRefFromFile: With G-code file (*.lpp) with more than 30 motion tasks, axle group remains in standstill (corrected from V03.25.00)

Version V03.24.00.0000

• L_MC4P - Path interpolation: Adjustment range of the global parameter 'Grinding time' extended from previously 0.2s to 0.5s (from V03.24.00)
• L_MK4E RoboticKinematicsExport: new kinematics 'Portal_AC_5dof' (from V03.24.00)
• L_MK4E RoboticKinematicsExport: New kinematics 'Delta3_5dof' (from V03.24.00)
• L_MC4P MC_MovePath: Output of status information if FB is in breakpoint and waiting for acknowledgement (from V03.24.00)
• L_MC4P: Robotics supports i550 and CiA402 inverters from other manufacturers (from V03.24.00)

• not existing

Version V03.23.01.0000

• not existing

• L_MC4P: Tracking with WCS filter: Position jump in band direction possible (corrected from V03.23.01)

Version V03.23.00.0000

• not existing

• L_MC4P: Occurring error message (exception) with override change of the axis group and an axis at standstill (corrected from V03.23.00)
• L_MC4P AxesGroupBasicControl: In manual mode, some of the associated profile parameters are not used (corrected from V03.23.00)
• L_MC4P: ACS axes report 'NoSetValuesAvailable' when GroupDisable is linked to Move.Done (corrected from V03.23.00)
• L_MC4P - Kinematics portal 5dof: AC movement occurs with wrong orientation (fixed as of V03.23.00)
• L_MC4P: MC_MovePath reports no xDone after execution of the program (corrected from V03.23.00)
• L_MC4P_PathRefFromFile: Calling again leads to internal error (corrected from V03.23.00)
• L_MC4P - MC_MovePath: G90/G91 switchover leads to error message 'unknown G function' (corrected from V03.23.00)
• L_MC4P_DynamicParIdent: Deactivating the filters of the real axes during the identification run (no modifications intended)

Version V03.22.00.0000

• L_MC4P Conveyor tracking: Access to the Cartesian setpoints for the integration of an average filter (from V03.22.00)
• L_MC4P: State of auxiliary axes now conforming to PLCopen (from V03.22.00)

• L_MC4P: Axis group can be switched on despite error message 21338 'InvalidTraversingRangeCombination (corrected from V03.22.00)
• L_MC4P: erroneous message "TargetOutOfSWLimit" due to numerical deviation in web preparation (corrected from V03.22.00)
• L_MC4P: blending is not executed under unfavourable circumstances (no modification intended)

Version V03.21.04.0000

• not existing

• L_MC4P: Motion tasks with invalid destination orientations are erroneously not rejected
• L_MC4P_MFunFromPathRef: Error message 'InvalidPathRef' if MC_MovePath not active (corrected from V03.21.04)
• L_MC4P: If the global slip time is activated and the override is changed, the speed and acceleration curves do not match the position setpoint (corrected from V03.21.04)
• L_MC4P: With MC_GroupHome / AGBC.xGroupHomeExecute the axis group orride is not considered (corrected from V03.21.04)

Version V03.21.00.0000

• not existing

• L_MC4P - AGBC: Jogging of the real axis does not work outside the operating range (no change intended)

Version V03.20.01.0000

• not existing

• L_MC4P: Stop during homing leads to incorrect homing status (fixed from V03.20.01)
• L_MC4P: Error "AxisLimitViolation_RealAxis..." occurs when referencing to stop via AGBC/GroupHome (corrected from V03.20.01)
• L_MC4P MC_MovePath: In G2/G3 unexpected movements of all three axes occur (fixed from V03.20.01)
• L_MC4P: After resetting xStopAll, axis reports error 20309 'NoSetValuesAvailable' (corrected from V03.20.01)
• L_MC4P: GroupStop of MC_MoveDirect does not detect end of stop ramp for modulo axes (corrected from V03.20.01)

Version V03.20.00.0000

• not existing

• L_MC4P: New workspace monitoring requires additional computing time, which must be taken into account when updating machines
• L_MC4P: Error stop possible when using auxiliary axes and jerk limitation (no modification planned)

Version V03.19.00.0000

• not existing

• L_MC4P: L_MC4P_GroupTorquePreControl on Delta3_xdof faulty ( corrected from V03.19.00)
• L_MC4P: Axis assignment error when using two identical delta robots in one project (corrected from V03.19.00)
• L_MC4P: Error when downloading a program with Delta3_xdof (corrected from V03.19.00)
• L_MC4P - Delta4dof: Incorrect software limit position monitoring of real axis

Version V03.18.02.0000

• not existing

• L_MC4P: Position jump of -360° occurs with C-axis in 'Limited' mode ( corrected from V03.18.02)

Version V03.18.00.0000

• not existing

• L_MC4P_AxesGroupBasicControl reports XFunDone twice with xStopAll and a certain timing (corrected from V03.18.00)
• L_MC4P_MoveContPath: Axis group limitations are not accepted correctly (corrected from V03.18.00)
• L_MC4P: Movements of the orientation axes during blending may lead to overtravelling of SW limit positions (corrected from V03.18.00)
• L_MC4P: UpdateDevice of an AxesGroup: Incorrect axis configuration, e.g. CYZ instead of XYZ (corrected from V03.18.00)
• L_MC4P - MC_TrackConveyorBelt: 'Done' output is not switched (corrected from V03.18.00)

Version V03.17.00.0000

• not existing

• L_MC4P_PathRefFromFile: Undocumented error ID '25856' after two identical decoding requests (corrected from V03.17.00)
• L_MC4P - MC_TrackConveyorBelt: When stopping with xGroupStopExecute, the axis erroneously returns to the output position (corrected from V03.17.00)
• L_MC4P - MC_TrackConveyorBelt: After aborting a command, xBusy and xCommandAborted do not display the correct status (corrected from V03.17.00)

Version V03.16.00.0000

• not existing

• L_MC4P - portal 4dof: AxisLimitViolation error occurs during homing if the C axis is configured as a 'Modulo' axis instead of a 'Limited' axis (corrected from V03.16.00)
• L_MC4P_MoveSpline: Incorrect path calculation if only one intermediate point is specified (corrected from V3.16.0)
• L_MC4P_GroupTorquePreControl: Torque feedforward control not taking into account the influence of the setpoint filters (corrected from V3.16.0)
• L_MC4P_DynamicParDelta3_3dof : Parameters are written to the wrong array elements (correted from V03.16.00)

Version V03.15.01.0000

• not existing

• L_MC4P: Missing blending segment during LinearPCS1-EllipseWCS-LinearWCS movement leads to position step change (corrected from V3.15.1)

Version V03.15.00.0000

• not existing

• L_MC4P: Existing project cannot be compiled with PLC Designer V3.15 and new compiler version V3.5.9.x (corrected from V3.15.0)
• L_MC4P: Discontinuous speed characteristic when stopping and a low PathStop deceleration is set (corrected from V3.15.0)
• L_MC4P: 'xStopAll' AGBC command is interrupted by error message, after this, no other travel requests can be started (corrected from V3.15.0)
• L_MC4P: After aborting a jogging request of the axis group via PathStop, travel requests can no longer be started (corrected from V3.15.0)
• L_MC4P: ABC outputs 'eFunState' and 'xFunDone' toggle if axis is stopped via external stop (corrected from V3.15.0)
• L_MC4P_GroupWaitTime: MC_TrackCV is not supported (no correction planned)
• L_MC4P - MC_MoveLinearAbsolute/Relative: Erratic position selection of auxiliary axis (corrected from V3.15.0)
• L_MC4P - AGBC ManualMode: MoveAbsolute is not always executed (corrected from V3.15.0)
• L_MC4P: AxesGroup behaviour with AGBC.xGroupStopExecute differs from behaviour when stopping a single axis (corrected from V3.15.0)

Version V03.14.12.0000

• not existing

• L_MC4P: GroupStop is not executed correctly (corrected from V3.14.12)

Version V03.14.11.0000

• not existing

• L_MC4P: Too many Application Credit points for gantry kinematics with controller device description V3.14 (corrected from V3.14.11)
• L_MC4P: Override changes from 0% to 100% may lead to sudden movements (corrected from V3.14.11)
• L_MC4P: Override calculation leads to 'Division by zero' error message (exception) (corrected from V3.14.11)

Version V03.14.00.0000

• not existing

• L_MC4P: Linking Cartesian and MC_MoveDirect movements may lead to position step changes (corrected from V3.14.0)

Version V03.13.02.0000

• not existing

• L_MC4P: Path planning does not consider max. acceleration for blending, if parameter 034 >=5 (corrected from V3.13.2)

Version V03.13.01.0000

• not existing

• L_MC4P: Robot kinematics with C-axis: Incorrect actual-position step change on the C-axis leads to error message No. 21270 (corrected from V3.13.1)
• L_MC4P - MC_TrackConveyorBelt: Error message 20309 during declutching if master (conveyor belt) is operated in intermittent operation (corrected from V3.13.1)
• L_MC4P - MC_TrackConveyorBelt: Under certain conditions, a position step change may occur when clutching in (corrected from V3.13.1)

Version V03.13.00.0000

• not existing

• L_MC4P: Jogging onto SW limit position in MCS triggers error message '21006', position can't be left via manual jog (corrected from V3.13.0)
• L_MC4P - MC_TrackConveyorBelt: Error message 21276 during 'Stop&Go' operation of conveyor drive (master encoder) (corrected from V3.13.0)

Version V03.12.00.0000

• not existing

• L_MC4P - MC_TrackConveyorBelt: 'NoSetValuesAvailable' error message when declutching (corrected from V03.12.00)
• L_MC4P - MC_GroupStop: Response of the (speed, acceleration) monitoring functions due to inaccuracies in the calculations (corrected from V3.12.0)
• L_MC4P: Rotary ACS axes: Modulo overflows are not handled correctly (corrected from V3.12.0)
• L_MC4P: MC_TrackConveyorBelt: Possible setpoint position step-changes with delta kinematics (corrected from V3.12.0)
• L_MC4P: After initialisation, the first write accesses to parameters are not executed (corrected from V3.12.0)
• L_MC4P - MC_TracKConveyorBelt: Processing stops if a new movement is started during an active tracking process (corrected from V3.12.0)
• L_MC4P - MC_TrackConveyorBelt: Declutching with axis at standstill leads to error message (corrected from V3.12.0)
• L_MC4P_LimitDynamicsMainAxes: Limitations of axes A, B and C are not effective (corrected from V3.12.0)
• L_MC4P_RobotikHandling: Path movement stops if blending radius is too large (corrected from V3.12.0)
• L_MC4P - MC_MoveLinear, MC_MoveCircular: The smallest value in Acc, Dec is used for deceleration (corrected from V3.12.0)
• L_MC4P - MC_TrackConveyorBelt: 'SW limit overtravelled' error message may erroneously occur in the case of dynamic movements (corrected from V3.12.0)

Version V03.10.00.0000

• not existing

• L_MC4P: TM Pick&Place: Travel request to the current position is not completed (corrected from V3.10.0)
• L_MC4P: During tracking, a compensating movement occurs when changing over to another coordinate system (PCS, MCS) (corrected from V3.10.0)
• L_MC4P: Orientation axes with rounding: Target position is not reached (corrected from V3.10.0)

Version V03.09.01.0000

• L_MC4P_RoboticHandling: Delta2-size of base radius is independent of end effector radius

• L_MC4P: Setpoint step-change when executing MC_GroupStop (corrected from V3.9.1)