cRIO ethercat application error

I have a cRIO-9074 connected to and AKD via EtherCAT drive, running in standard mode.

Simple straight line move using a VI express softmotion.

It works fine except when I force the engine to stall, a strange thing.

When I take the engine yet it will suddenly reverse direction rotates at a speed faster than the requested speed rear forward.

The faults of the ADK out but it takes 100 to 400 ms to turn off the power.

The AKD displays F 503 and Labview indicates an error code 6A 3130.  This resulted in "phase failure AKD.

Relavent part of this error is: "the excessive power single-phase connection load".

Of course I am inducing power over load so expect this fault, but the reverse rotation before the AKD Cup feeding is strange.

I tried to reproduce this using the Kollmorgen Workbench software, but so far it only happens when Labview is controlling via EtherCAT.

Hello Brians,

Taking the engine beyond normal limits of operation may cause unexpected behavior. It is never recommended to intentionally block the engine. In this case, it seems that LabVIEW is trying to remove the constraints inherent in the system in the case of a stall by reversing the motor. The reason why you do not see this behavior in the Workbench is because it does not contain the control algorithms that are present in LabVIEW. In addition, I am curious about how to determine the time the motor runs in reverse; 100-400 ms seems very specific. If the pitch of the engine is possible in your code, I need to program under a security to handle this situation and perform all measures requires your application in the case of a stall.

N

Tags: NI Hardware

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