!MS command does not work ?

3 years 9 months ago #29532645 by psykokwak
Hi all,
I need to use the !MS command to turn off motors individually but the command seems does not work.
On the console tab, "!MS 1" returns "+" but the motor continues to run.
On scripting tab, the "setcommand(_MS, 1)" do nothing too.

Tried on an HDC2450 / Firmware 1.7

Did I miss something ?


Best regards,

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3 years 9 months ago #29532647 by blake
Replied by blake on topic !MS command does not work ?
Hello,

Which control mode are you operating in: Open loop or closed loop? If closed loop then which closed loop mode?

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3 years 9 months ago #29532648 by psykokwak
I'm in Closed Loop Position Relative

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3 years 9 months ago #29532649 by blake
Replied by blake on topic !MS command does not work ?
When in closed loop position relative mode, the !MS command acts by essentially sending a command relative to the current position of the motor when the !MS command is sent. This will stop the motor in that specific position however dependent on the tuning of your PID gains you may still observe motion on the motor shaft as the motor is trying to track to the command position.

!MS does not remove power to the motor, which I think is what you are expecting. Rather it holds the motor in the position the motor was in when the !MS command is sent. In order to remove power to the motor you would need to use Emergency Stop (!EX) however this cannot be done for each individual channel, when !EX is sent both motor channels are effected.

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3 years 9 months ago #29532650 by psykokwak
Thanks for this answer.
I think you should update the documentation with your explanation because the documentation isn't good.

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3 years 9 months ago #29532651 by blake
Replied by blake on topic !MS command does not work ?
Thank you for your feedback. I will make sure to include a more detailed description in our User Manual Errata and we will expand the description in our next revision of the manual.

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