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Is it possible to forbid negative velocity moves?


maxvoxel8
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Depending on your hardware, you might want to consider doing this at the drive level.

 

Or maybe putting a diode or something similar in the torque command wiring (if analog)

 

Another approach might be to write a plc which monitors the motor's PID torque request, and clamp the Motor[*].maxdac value or perhaps the Motor[*].Servo.MaxPosErr value if it goes negative and set an error flag. This could have some issues with decel, though.

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To prevent the possibility of a commanded move in the negative direction, you may want to have a PLC program continually set Motor[x].MinPos just slightly less than the present position (Motor[x].ActPos - Motor[x].HomePos). Set Motor[x].MaxPos to a huge positive value.

 

For protection at a different stage, you may want to monitor Motor[x].ActVel, and if it is negative for several consecutive scans, disable the motor.

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