RESOLVED - Motor[4].Desired.Pos delivers nan (not a number)

Hi!

I have 8 active motors, where always 2 are cascaded (#1 with #21, #2 with #22, #3 with #23, #4 with #24)

I use plc2 to start motion prog 10 in Coordinate-system &1:

open plc2

plc[2].ldata.coord=1

jog/21..23

jog/24

enable 1

sys.cdtimer[3]=500

while (( sys.cdtimer[3]>0) && (m281==0 || m282==0 || m283==0 || m284==0)) // wait for desvel=0

{

//

}

if ( sys.cdtimer[3]!>0)

{

M611=62 // Timout enable servos CS1

}

else

{

abort 1

start1:10 // Joystick Prog start

}

disable plc2

close

Using 3 (6) active motors (XYZ):

- plc2 starts prog10, and it works correctly

Using 4 (8) active motors (WXYZ)

- plc2 starts prog10 but prog10 does not run (listpc shows line 1 of prog10) and delivers Motor[4].Desired.Pos=nan,

- typing all the commands of plc2 manually into a terminal starts prog10 correctly

- Issuing #24j/#4j=0 before launching plc2 let run prog10 correctly

- after all, once Motor[4].Desired.Pos has a real number, prog10 can be started from plc2 any time without any problem

What is going wrong here?!

Regards,

Anton

We haven't seen this before and can't duplicate it so far. However, I'm concerned that you issue your "start" command immediately after the "abort" command. The abort command triggers a process that does take finite time.

Try putting a small delay in between these two commands in your PLC program.

This was my mistake - excuse me, Curt!

After initialization-sequence in plc1 Motor[4].AbortTa would hold "-inf", what leads to "Motor[4].Desired.Pos=nan", and finally what blocks the start of any motion prog.