Function enhancement:
Movement control: Improved calculation of path speed profiles when reloading movements.
Included in the following products:
Library: L_MC4P_RoboticHandling (FAST Motion) from V03.32.00
(Update via Package Manager)
Application:
Up to V03.31.00:
When reloading coordinated movements, e.g. commissioning additional MC_MoveLinear or TM_PickAndPlaceHigh.xAddProfile, while the axis group is already in motion, the subsequent movement can only take place with a grinding if the active movement is not already in the braking phase to a standstill.
From V03.32.00:
The function has now been extended so that the path can also be smoothed during the deceleration phase of the active movement.
This applies under the general conditions that the insertion of the specified smoothing is possible both geometrically (smoothing point has not yet been passed) and dynamically (speed can be reduced for smoothing to such an extent that the acceleration limits of the axes are observed).
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