Hi CodeSheperd, Basically, this is a very simple application for clamping. We use MC_Move Velocity in both directions with different torque limit (S-0-0092) according to direction. I can simulate on my desk with my demo as follow: - start MC_MoveVelocity (Drive in velocity mode) + C1300 (to avoid torque limit warning on Drive). - hold motor shaft with hand (simulates clamping) => position command still equals to actual position. - execute MC_Stop to cancel motion in progress (even if axis does not move anymore), followed by ML_AxsSetIpoPosFromActPos once MC_Stop.Done is True to update IPO position with actual axis position. However, as soon as MC_Stop starts, Drive gets back in Position Control mode and "wants" to follow Position command sent by the Motion App. This induces a jump and Motion trips with following error since S-0-0047 is set to Motion App position (which was still increasing even in Continuous Motion and velocity mode...) So, for this kind of application, we should keep Velocity Mode while MC_Stop is active to avoid such a jump or Motion App position would not need to be updated since Velocity is in use?? Also, using ML_AxsSetIpoPosFromActPos before MC_Stop is not possible too since this PLC_Open state is currently not in Standstill...
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