About Nathanael

Hallo CodeShepherd, Many thanks for your involvement. Basically, sequence is done manually (I mean force / unforce commands by hand) as follow: 1 - CmdPower = true 2 - CmdJogP = true 3 - Hold motor shaft with hand 4 - CmdJogP = false 5 - CmdPower = false 6 - Unhold motor shaft with hand   I've added all needed files in attached (CtrlX Core App Data + PLC file + CtrlX I/O file). Just need to set Drive in rotary modulo scaling with modulo = 360°. Danke 😉 ... View more

Hello CodeSheperd, Yes, I've done few tests with sequence you described. Unfortunately, this is not enough since behavior is a "bit random". I mean, sometimes with a shock and sometimes not, also sometimes with a Motion App fault and sometimes not. I add in atatched 3 traces: Test1 : no fault but we clearly see a jump at MC_Stop, position command is still zero once Modulo is overlapped and felt a shock on the shaft (seen on actual position) Test2 : no fault, seems to be Ok according to trace but felt a shock on the shaft (seen on actual position) Test3 : fault on Motion App and felt a shock on the shaft (seen on actual position)   ... View more

Many thanks. I understand your statement. However, in case of clamping application, this is not working since position command carries on increasing while axis is at fixed position. We already tried it but got a jump to catch up position command once part was removed (no more opposite torque). Goal is to keep actual motor position once movement (with velocity or position mode) is ended and part is removed (rotary system to screw a tap on a bottle). As soon as bottle must be removed, Drive is set first in AB but trips in alarm since actual position does not match with command and torque is still on. This is why we expected using velocity mode to get rid of position command and keep motor at fixed position at the end of movement once MC_MoveVelocity was ended. So now, let's wait July to make further tests 😉 ... View more

Hello AndreasL, I tried to do as you mentionned but it is still the same behavior. As soon as MC_Stop is in use, position command (S-0-0047) recovers position sent by the App Motion and Drive changes to Position control... As you can see on traces, jump is still there at MC_Stop: For your information : - Axis is already stopped (hold by hand in simulation) before using MC_Stop, and I soon as I release shaft, motor catches up positon command. - Drive is setup in Modulo.   ... View more