Get motor command when !EX
4 years 6 months ago #29534050
by jyce
Get motor command when !EX was created by jyce
Hi,
I'm trying to do this :
value remains at 0 as long as emergency stop is enabled :(
Is there a way to change this behaviour ? Maybe a firmware fix ?
Best,
I'm trying to do this :
setcommand(_EX, 1) ' enable emergency stop
top:
value = getvalue(_M, 1) ' get motor command
goto topvalue remains at 0 as long as emergency stop is enabled :(
Is there a way to change this behaviour ? Maybe a firmware fix ?
Best,
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- Gabriel_Isko
4 years 6 months ago #29534051
by Gabriel_Isko
Replied by Gabriel_Isko on topic Get motor command when !EX
This is correct behavior. An Emergency Stop locks the motor command at 0. All the FETs float during an Emergency Stop, so it would be inaccurate to allow the motor command to change since the controller isn't trying to achieve the motor command output.
What are you trying to accomplish in your application?
What are you trying to accomplish in your application?
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4 years 6 months ago #29534062
by jyce
Replied by jyce on topic Get motor command when !EX
Hi,
Thanks for your answer.
I would like to synchronize the emergency stop with the break (connected through one DOUT).
Right now, my script do the stuff but my MCU has to send the !MG command each time it send a command which is not 0
Thanks for your answer.
I would like to synchronize the emergency stop with the break (connected through one DOUT).
Right now, my script do the stuff but my MCU has to send the !MG command each time it send a command which is not 0
setcommand(_EX, 1) ' enable emergency stop
pvalue = 0
top:
value = getvalue(_M, 1) ' get motor command
' Stop
if value = 0 then
if pvalue <> 0 then
gosub TimerSet
end if
end if
' Go
' Let my MCU remove the emergency stop condition
if value <> 0 then
if pvalue = 0 then
gosub TimerReset
end if
end if
pvalue = value
gosub TimerUpdate
goto top
timerFlag = 0
TimerSet:
timerFlag = 1
settimercount(0, 1500) ' set timer
settimerstate(0, 0) ' start timer
return
TimerReset:
timerFlag = 0
return
TimerUpdate:
' check if timer has completed
if timerFlag = 1 then
if (gettimerstate(0) = 1) or ((getvalue(_DO, 1) and 1) = 0) then
timerFlag = 0
setcommand(_EX, 1) ' enable emergency stop
end if
end if
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- Gabriel_Isko
4 years 6 months ago #29534064
by Gabriel_Isko
Replied by Gabriel_Isko on topic Get motor command when !EX
Yes this is correct. Because the emergency stop is an emergency condition, it needs to be cleared manually.
Emergency stop is not designed to operate as a power release. Our controller cannot relinquish electronic control of a motor during normal operation.
Emergency stop is not designed to operate as a power release. Our controller cannot relinquish electronic control of a motor during normal operation.
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