How to stop a grouped kinematic, go to Safe Torque Off and then back to production without errors.

[Joannes]

Here's a question for the ctrlX Motion App specialists.

We have a XYZ portal with ctrlX DRIVES and ctrlX CORE which should work in a production environment .
Question:
What is the best way to stop at any time a grouped kinematic, go to Safe Torque Off so that someone can go into the safe zone to fix something and then restart production without generating any errors.

We managed to do this, but for that we had to reset errors in our sequence. We think the problem is with the state machine, it seems that the state of the drive does not really follow the state of the kinematic. Could someone test this and give us a good solution without filling the error log with unnecessary messages.

[Joannes]

Extra info: We use the CXA_MotionInterface library with KinInterface to control the kinematics and AxisInteface to control the drives.

[CodeShepherd · Accepted solution]

I guess there could be an issue with the time the kinematic and drive has to react on an STO signal.

When using an controller via a fieldbus to the the drives you can set that the drive is waiting for an control reaction (like ramping down) before switching to STO. In any case you need to hand over your signal that STO is active to the non safe controller and switch your kinematic to ModeCoordAB, because you need to switch to Ab when activating STO to generate no error. As long as you have active power output to the motor you will always get an error.