Axis residual commad position path (following err )not deleted after MC_STOP and axis remain in "AF"

[giustola69]

Hello,

with motion Ctrlx 18.1 and drive firmware 03v14 we have the following problem on the axis behavior:

if an MC_Stop function block is commanded the drive remain in AF and if the command is done while the axis is moving the axis stop but if in the axis a C1300 Positive stop drive procedure command is active and a following error is present there is no way to reset the following error and avoid the axis unwanted movement when the C1300 is released

We have only found two ways as workaround to fix this : thw 1st is to set the power off on the drive, the 2nd is to command a new MOVE_ABS function block setting the target position = feedback position ( but with this soluzione you must wait that the move axis command is done )

Questions:

1. Why the MC_STOP does not set the AH status in the drive ?

2. How is it possible to delete the following error to avoid the axis unwanted moment ?

Many Thanks

Giuseppe

[CodeShepherd]

Please have a look to the MC_Stop documentation. It aborts an command decelerates to standstill. No switching to AH is intended.

C1300 is an drive related command and MC_Stop is a motion (control) related command. Are you using the motion function ML_AxsFixedStop or function block MC_AxsFixedStop? Or do you directly command the drive via parameter channel? Then you would also have to stop the your command the same way.

[giustola69]

Hi,

I'm using a Move_Absolute FB and the C1300 commad togheter to avoid the eccessive deviation because the assi stop on a machanical point while moving ( is a tapper ) and whe the torque reach the tapper value the axis shoud stop and delete the following error whiout moving.

We did a lot of this application wiht MLC/XM and Indradrive and using the MC_Stop the axis went is stopping mode and releasing the stop command in AH ( according to the PlcOpen machine state rules ). Now with Ctrlx seems that that behavior has changed.

So Ho could we delete the following error if the MC_Stop is non working anymore ?

As I said we found two workaroud but we wanted to be sure that hese are the right ways of doing the job now with CtrlX core and drive.

Regards,

Giuseppe

[giustola69]

Hi,

is thers any way to delete the drive residual path from CtrlX core immediatelly ? What we need is a command to set the drive commanded position = to the drive feedback position immediately when a following error has been accumulated.

In my opinion this job should be performed automatically by the FB MC_Stop: after an MC_Stop execution the axis should not move until a new command is performed. Up to now if the drive has a residual path with a following error generated using the C1300 procedure, the axis moves even after a MC_STOP command

Many Thanks

Giuseppe

[CodeShepherd · Accepted solution]

As the command position is still the not reachable the drive will try to reach it. As mentioned above currently you only have the possibility to command a movement to delete the position difference.

From version 1.20 on there will be a command (axsSetIpoPosFromActPos) for setting the actual position to the interpolator.

[MichaelB]

@giustola69: The function axsSetIpoPosFromActPos is now available with early adopter release 1.20. Please feel free to test it and give some feedback.

Best regards, Michael