The Y-Axis State Machine was getting "corrupted" when positioning any Axis higher than 3. The machine index stored in the state machine was getting corrupted which ultimately resulted in Axes with ID's higher than 2 not positioning.

What was actually happening is that the size of the Array of state machines was defined with one literal variable which was too small. The array bounds checking was being done with the correct literal. Any Axes with an ID higher than 2 was using memory that it didn't own, which resulted in it eventually being "corrupted" by the actual owner.

This has been resolved.

NA

Sercos errors for all drives are cleared in phase 2 during the phase run up to phase 4.

Once the system has gotten to phase 4 and errors need to be cleared, it is most likely to get the line back up to full operation as quickly as possible, not for troubleshooting. For this reason a request for Error Clear will cause a new phase run up to clear errors in all drives and resolve any other potential state machine issues.

Some Manufacturers have an external power enable circuit to their SERCOS drives to enable power. This prevents the Cyclical Interrupt from being installed, which traps the SERCOS state machine in a place where it does not do its normal processing.

In this state, I have added checking to allow drive settings to be modified and drive errors to be cleared. The drive status is also modified to indicate the drive is not ready and is waiting for Cyclical Data to be enabled.

The E-Stop and the System Ready inputs (on an OL) are now required to Enable, Jog, Position, Reference to Home Switch ...etc. In addition, if the system loses the E-Stop or System Ready, the Multi-Axis drives will now also be disabled.

Two new options have been added to the MODBUS interface.

Requesting a Field Bus Reset will reset any present Field Bus, SERCOS or EtherCAT at the moment, back to its full operational state. Errors are cleared during the reset.

Requesting all Drives to be Disabled does what it says.

These options are available in MODBUS Version Level 1.30. More detailed documentation can be sources in the MODBUS Spec.