SoftMotion: Writing setpoint produces error once limit switch is engaged

[Lysandros]

Hi,

I use Kollmorgen AKM motors, in combination with a PXI platform. The setpoint values are passed with Softmotion via EtherCAT to the AKD motor drives.

Also, the limit switch (which is connected to the digital input ports of the motor drive) is configured to be recognized by Labview, in the Axis Configuration environment:

The problem is, that once the limit switch is engaged by the axis, this axis stops, but Labview freezes and gives the error

-77025: Error when writing Torque Setpoint on Invoke Node. Possible reason: The limit switch is active.

It is fine that Labview recognizes this, but the program freezes and the setpoints to the other motors, reatin the last value, which is not a very safe concept.

Is there a way, to deactivate the Write Setpoint invoke node, if a limit switch is encountered?

Thanks,

Lysandros

[MateuszLoska]

Hi Lysandros,

could you please share what version of LabVIEW and Softmotion you use?

Thanks,

Mateusz