Excessive deviation with position jump after hard stop

[aFouraker]

When grouped into a kinematic one of the axes has an excessive deviation fault. After this, the axis can no longer be enabled without generating the ecessive deviaiton. It can be enabled and jogged from the drive software. Here is a scope of the commanded position from the controller after the fault occurs. 

[CodeShepherd · Accepted solution]

Could you please confirm:

1. You are commanding a kinematic
2. One grouped axis gets excessive deviation
3. Robot does not get any error
4. Axis gets enabled again
5. Error occurs again

Normal behavior:

• when an axis gets an error, the kinematic should also get to error state and ungroup automatically.
• when enabling a kinematic the actual axes positions are set as actual kinematic position.