PTP-Move exceed Speed- and Accelerationlimits of external axis

Robot Programming
1

Hy,

how to avoid PTP-Move exceed Speed- and Accelerationlimits of external axis? → I think that should not happen… :frowning:

Thx & Regards
Feature

2

Well, disable the limit checks :dark_sunglasses:

But it sounds like a bug. How to reproduce?

3

Hy,

we found out with subscribing JointLimitExceededEventArgs that the value of the external axis exceeds because the current value is positivInfinity or NegativInfinity for a short time! → For now we skip them, but’s interesting because the PTP-Move should avoid exceeding its axislimits!?

I will look if I can make an example without productiv-data…

Thx & Regards
Feature

4

Hy @WilliamSmith ,

i submitted a simplified version to our reseller which will forward it to VC-Development.

My extended print shows the problem!

image

Regards
Feature

5

Hy again @williamSmith,
the bug still exists in VC 4.10.2 :sleepy_face:, steps to reproduce are quite simply:

  1. Build a layout with standard components from eCat
  2. Connect them via interface
  3. Set all limit checkboxes in program tab
  4. Do a PTP-motion statement and move the external axe and baammm

image
image755×823 104 KB

May you find out whats the problem here??

Thx & Regards

7

Hi captain_feature,

This is quite awkward, did you send a message to support? I can also generate a bug ticket regarding this but I’d rather not write bug ticket numbers in the forum.

br,
lefa

8

Hy @Lefa,

I unfortunately can’t remember if I really submit the topic in 2021… :face_with_peeking_eye:

If the bugfix would reach VC 4.10.x it would be great to have an Ticket!

Also a check ich VC 5.0 MotionController would be great.

Thx & Regards