Soft motion will not listen to stop command

[rscott9399]

So i am controlling a Kollmorgen Drive with soft motion from a C-Rio 9045

 

It runs fine 99% of them time. 

On occasion i use the STOP immediate command to stop the drive

It simply ignores the command.

 

I have an indicator tied to the drive velocity and it shows zero

However the drive continues to move and it will not stop. 

I am at a loss. We have verified the command and tried it in several places in the program. 

After the initial troubleshooting i am thinking this is a comm related problem. 

As if its busy doing something else. 

Does anyone know of any other functions we can use to monitor the comms outbound?

I have been trying to locate a function that will tell us if the drive is busy.  

 

 

[Tim_S]

Not familiar with your setup, but was thinking that STOP immediate (NI term) could be a fast stop (drive term). Fast stop, with the hardware I've worked with, is usually a physical digital input on the drive that has to be configured to perform a fast stop through a drive setting.

[RMowatt]

It has been a while since I've used SoftMotion, but I recall running into similar issues.  The way to mitigate this is to create a stop move, much like a straight line move or contour move except its purpose is to stop.  You then start the stop move and the motor should stop with whatever settings you have created your stop move with.  It doesn't seem very intuitive, but if I'm remembering correctly it worked pretty perfectly.  It always seemed like stopping a straight line or any other move didn't stop the motor because it was telling it to stop the move after it was already finished.  This sort of thing was exhibited in the contour move where if you load up 1000 points, it would still go through all 1000 after stopping the contour move, but using the stop move would stop it immediately.

[rscott9399]

At least im not crazy and someone recalls this.

 

Any other ideas much appreciated. 

 

 

[rscott9399]

1 hour ago, RMowatt said:

It has been a while since I've used SoftMotion, but I recall running into similar issues.  The way to mitigate this is to create a stop move, much like a straight line move or contour move except its purpose is to stop.  You then start the stop move and the motor should stop with whatever settings you have created your stop move with.  It doesn't seem very intuitive, but if I'm remembering correctly it worked pretty perfectly.  It always seemed like stopping a straight line or any other move didn't stop the motor because it was telling it to stop the move after it was already finished.  This sort of thing was exhibited in the contour move where if you load up 1000 points, it would still go through all 1000 after stopping the contour move, but using the stop move would stop it immediately.

I dont fully understand what you mean. 

I have thought about your suggestion previously, but even if you made a VI called "stop move" or whatever, inside of it, you would need to place the stop immediate soft motion command. 

 

If it doesnt respond alone why would it respond in a subVI.

 

Or are you suggesting to making a sub VI with a strait line move in it with its velocity = zero?

 

Thanks in advance 

[RMowatt]

When I was referring to a "Stop Move" I was referring to a SoftMotion move option.  Just like a Straight-Line Move or Contour Move or Arc Move, the Stop Move can be created and have methods/properties called via invoke/property nodes.

https://forums.ni.com/t5/NI-Labs-Toolkits/LabVIEW-NI-SoftMotion-Module-2009-SP1-Property-Invoke-Nodes/ta-p/3494129?profile.language=en

""Create—Use the Create polymorphic VI to create a reference to specific NI SoftMotion interface objects. You can select from the following options:

• Straight-Line Move
• Arc Move
• Contour Move
• Find Reference Move
• Position Capture
• Position Compare
• Stop Move
• Gearing
• Camming
• Time Sampled Read - See Known Issues""

Creating a stop move, and then using the invoke node to start the stop move tells the motor to stop moving.

Sharing some of your code may help shed some light on what exactly you're doing, because there are a few different interfaces to SoftMotion, ie express vis, property nodes, or the subVIs they ship with.

[RMowatt]

http://zone.ni.com/reference/en-XX/help/371093W-01/TOC25.htm

http://zone.ni.com/reference/en-XX/help/371093V-01/nimclvfb/dt/eng/generated/stopmethods/

http://zone.ni.com/reference/en-XX/help/371093V-01/nimclvfb/dt/eng/generated/stopprops/

[rscott9399]

Thanks guys

 

I did a little trickery today and found a work around. Its not pretty but at least it works

Strait line move with V = 0 did the trick