sutty Posted December 10, 2018 Share Posted December 10, 2018 Hi! I have 8 active motors, where always 2 are cascaded (#1 with #21, #2 with #22, #3 with #23, #4 with #24) I use plc2 to start motion prog 10 in Coordinate-system &1: open plc2 plc[2].ldata.coord=1 jog/21..23 jog/24 enable 1 sys.cdtimer[3]=500 while (( sys.cdtimer[3]>0) && (m281==0 || m282==0 || m283==0 || m284==0)) // wait for desvel=0 { // } if ( sys.cdtimer[3]!>0) { M611=62 // Timout enable servos CS1 } else { abort 1 start1:10 // Joystick Prog start } disable plc2 close Using 3 (6) active motors (XYZ): - plc2 starts prog10, and it works correctly Using 4 (8) active motors (WXYZ) - plc2 starts prog10 but prog10 does not run (listpc shows line 1 of prog10) and delivers Motor[4].Desired.Pos=nan, - typing all the commands of plc2 manually into a terminal starts prog10 correctly - Issuing #24j/#4j=0 before launching plc2 let run prog10 correctly - after all, once Motor[4].Desired.Pos has a real number, prog10 can be started from plc2 any time without any problem What is going wrong here?! Regards, Anton Link to comment Share on other sites More sharing options...
curtwilson Posted December 10, 2018 Share Posted December 10, 2018 We haven't seen this before and can't duplicate it so far. However, I'm concerned that you issue your "start" command immediately after the "abort" command. The abort command triggers a process that does take finite time. Try putting a small delay in between these two commands in your PLC program. Link to comment Share on other sites More sharing options...
sutty Posted December 12, 2018 Author Share Posted December 12, 2018 This was my mistake - excuse me, Curt! After initialization-sequence in plc1 Motor[4].AbortTa would hold "-inf", what leads to "Motor[4].Desired.Pos=nan", and finally what blocks the start of any motion prog. Link to comment Share on other sites More sharing options...
Recommended Posts