L_TT1P_PickAndPlace: Reversing when travelling on after stop (corrected from V3.15.0)

Corrected from:
L_TT1P_TechnologyModules_LM (V3.15.0.32)

Response of the new version:

During the deceleration of the stop function, the technology module continues to follow segment processing between the activated path points. The executed segments and, accordingly, the path points reached are thus acknowledged in the TM. When path execution is activated again, the TM approaches the next path point without reversing.

What happens?

The drive reverses to a point which has already been executed and then continues path execution.

When does this behaviour occur?

The behaviour occurs if a path including e.g. 10 points with a short distance between the points and flat ramps lrPathAcc = lrPathDec = 50 is traversed.
At the beginning of the path, the drive already decelerates via xPathStop and with a very flat deceleration ramp lrPathDec = 50.
The path is stopped via xPathStop = TRUE. The TM reaches the READY state and indicates the xPathHold state (path execution can be continued).
Via a new xExecutePickAndPlace, path execution shall be continued to the end.

Which products are affected?

L_TT1P_PickAndPlace in the L_TT1P_TechnologyModules_LM library (V3.14.2.54 and higher)

Short-term measures:

Use the xPathInterrupt input instead of xPathStop at the PickAndPlace technology module

Evaluation/recommendations:

During the deceleration ramp, further points are executed on the path. The technology module does not recognise this.
The technology module saves the path when xPathStop is activated.

Therefore, the points executed during the stop ramp are approached once again by the technology module.

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201700129/1/

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: 201700129
Last update: 2023/09/09
Category: Release notes

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