L_TT1P_PickAndPlaceBase: Intermediate point is not smoothed (eliminated from V3.12)

Eliminated from:
L_TT1P_TechnologyModules_LM V3.12.0.9 library
(contained in PLC Designer V03.12.00.177 and higher)

Behaviour of new version:

The path movement is no longer stopped if the blending radius is set to values bigger than half the path length.

What happens?
Despite the selected smoothening (lrBlendingRadius > 0), the first intermediate point (point over the starting position at height lrZStartDist) is approached and it is stopped for one cycle.

When does this behaviour occur?
The first intermediate point is not smoothed if the selected blending radius is bigger than half the path length to the next point.

Which products are affected?
L_TT1P_PickAndPlaceBase in L_TT1P_TechnologyModules_LM library (V3.9.0.62 and higher)

Short-term measures:

Ensure that the selected blending radius is smaller than half the path length between the intermediate points.

Evaluation/recommendations:
If the above short-term measure is observed, all intermediate points will be smoothed as desired. The functionality is thus provided.

URL for linking this AKB article: https://www.lenze.com/en-de/go/akb/201500272/1/

Meta data

Taxonomy: TM Pick and Place , TM Basic Motion , TM Cross Cutter , TM Electrical Shaft Position , TM Electrical Shaft Velocity , TM Flex Cam , TM Flying Saw , TM Magic Track , 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: 201500272
Last update: 2023/09/09
Category: 版本注释

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