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Subject: | Motor record: No longer issues a stop command when motor already stopped? |
From: | <[email protected]> |
To: | <[email protected]> |
Date: | Mon, 22 May 2017 10:58:13 +0000 |
Hello, At Diamond we often implement a software PLC on the motor controllers to disable the amplifier of in-vacuum motors (sending a kill command) when they have completed a move. This is to avoid the motors overheating in vacuum.
However, recently we had an overheating problem on an in-vacuum motor because a motor amplifier was constantly being re-energised after this PLC had de-energised it. This was due to the motor’s flickering encoder causing it to regularly
register a soft limit condition. Whenever the motor record went into a soft limit state it issued a Stop command to the motor re-energising its amplifier. The PLC and the motor record would then ‘fight’ each other, one disabling the motor, the other enabling
it. We were using motor record version 6-7-1 when we encountered this issue. After upgrading to 6-9 the problem appears to have gone away. This is good news but I would like to understand what may have changed to avoid this situation? I
see a lot of limit related changes have happened between these two release numbers. Can anyone point me to a change which may explain the fix we see? The change must be to do with not sending a Stop command if the motor is already stopped? Thanks for any guidance, James
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