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n the orientation motion.
Acceleration/deceleration is limited to zero. Configure a higher maximum acceleration or deceleration
for the axes involved in the orientation motion.While a restart is being performed, the technology object
cannot perform any jobs.
During a restart of the kinematics technology object, all interconnected
axes are reinitialized first. Then the kinematics
technology object is reinitialized. This may take up to one
second.
Wait until the "Restart" of the technology object is complete.Configure a higher maximum velocity for the axes involved
in the orientation motion.
Acceleration/deceleration is limited to zero. Configure a higher maximum acceleration or deceleration
for the axes involved in the orientation motion.When the singular position is reached, the technology alarm 803 is output. The kinematics system reduces the overruns of
the dynamics caused by setpoints to the maximum dynamics of the axis. The reduction of the overruns of the dynamics can
result in unexpected axis motion.
Therefore, use a kinematics system with singular positions within or at the threshold of the transformation range with
enabled dynamics adaptation. By doing this you avoid unexpected dynamics overruns and resulting axis motions.
Controlling deceleration and jerk with the Kinematics control panel (T)
Only for the operating mode "Jog to target position" in the world coordinate system (WCS) and object coordinate system
(OCS):
The values configured in the Kinematics control panel for deceleration and jerk are not used. The Kinematics control panel
uses the values configured in the dynamics limits of the kinematics technology object for maximum deceleration and
maximum jerk.Contrary to the behavior described in the documentation, you can use the slider to set the velocity only in the world
coordinate system (WCS) and object coordinate system (OCS). Kinematics motions in the machine coordinate system
(MCS) are executed with the velocity override (<TO>.Override.Velocity) of the individually interconnected axes.

Executing "MC_GroupStop" following a "MC_GroupInterrupt" (T)
If you execute a "MC_GroupStop" job after a "MC_GroupInterrupt" job, you have to leave the parameter "Execute" at the
"MC_GroupStop" set to TRUE until the command sequence is empty (StatusMotionQueue.NumberOfCommands = 0). If the
command sequence is not empty, the remaining motion jobs in the command sequence are executed.
Hardware limit switch
Contrary to the behavior described in the documentation, you cannot use a hardware limit switch as a reference cam.
Cam track of an axis or encoder with modulo function
Track length and mapping to an axis or encoder with modulo function
When the cam track is enabled by a "MC_CamTrack" job, the position of the cam track (<TO_CamTrack>.MatchPosition) is
set as if the current position had been reached by a motion in the positive direction starting from the reference position
(<TO_CamTrack>.ReferencePosition).
Homing the interconnected technology object
The homing of the assigned technology object influences the position of the subsequently active cam track on a directiondependent
basis. This is dependent on the position difference, the difference between the new position minus the original
position. If the position difference is negative, you add the modulo length (<TO_Axis/TO_Encoder>.Modulo.Length).
If this position difference is less than or equal to half the modulo length, the new position of the cam track
(<TO_CamTrack>.MatchPosition) is set as if the new position had been reached by a motion in the positive direction starting
from the original position.
If this position difference is greater than half the modulo length, the new position of the cam track
(<TO_CamTrack>.MatchPosition) is set as if the new position had been reached by a motion in the negative direction
starting from the original position.If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific