DAC != 0 after following error

[cyberjack]

I am running in ServoDAC mode.

When a Following Error is detected KFlop disables the axis but does not set the corresponding DAC to zero.

Do I need to add code to detect this state and set the DAC to zero?

Will the same behavior happen when limits are hit?

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[m_c]

From what I remember, when an axis is disabled, the DAC is simply left at it's previous value before disabling. If you need it to be set explicitly to zero, you would need to add code to detect the disable and then set the DAC to zero.

However, I'm wondering why you need it to drop to zero?
If you're relying on it dropping to zero to stop motion, setting the DAC to zero is not a recommended method (and could even be dangerous), as if the drive is still enabled, it is very likely to drift. If an axis gets disabled, you should be disabling the drive to stop all motion.

[TomKerekes]

Hi cyberjack,

I believe m_c is correct. You should really detect the axis disabled and disable your drive. That way the DAC voltage won't matter.

But KFLOP should set the DAC to zero whenever the Axis is disabled. Actually it sets it to the InputOffset0 setting which should be 0V if you are using InputOffset to correct for voltage offset. Do you have an InputOffset0 specified?

Regards

[cyberjack]

I'll look into adding code to disable the amp.

I've made a bunch of changes over the weekend and am no longer able to repro the problem.
I am able to cause a following error, but the DAC gets reset to zero.

I'll keep an eye out for it and update this thread if I see it again.

Thanks