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The following items are Bug Fixes in LabVIEW NI SoftMotion Module 2012.
| ID | Legacy ID | Fixed Issue | Issue Details |
|---|---|---|---|
| 201612 | - | A torque offset of 10 V results in -10 V when you deploy. | In the Drive Command tab of the axis properties page, setting a torque offset of 10 V results in -10 V when you deploy. |
| 205936 | - | NI SoftMotion Stepper Generator VI does not work in a LabVIEW FPGA Module single-cycle Timed Loop at loop rates slower than 40 MHz. | When the NI SoftMotion Stepper Generator VI is compiled in a single-cycle Timed Loop at rates slower than 40 MHz there is drift between the setpoint and the output steps from the VI. |
| 299335 | - | Unable to connect to a Phar Lap target for a short time after reboot. | After rebooting a real-time target that uses Phar Lap, you cannot connect to the target for several seconds. In addition, the CPU usage spikes during the time that the target is unavailable. |
| 304133 | - | Drive Command configuration properties do not work correctly. | The value returned for the Drive Command Positive Torque Limit, Drive Command Negative Torque Limit, and Drive Command Torque Offset properties is always 0. In addition, the value you configure for these properties is not used but no error is returned. |
| 321164 | - | Stopping a blended move causes the axis to jump to the next position. | Stopping a blended move in progress causes the axis to jump to the blended position. This only occurs when using Express VIs. |
| 328711 | - | Turning a motor by hand while the AKD EtherCAT drive is disabled can cause an axis jump upon re-enable. | The axis jump occurs when the AKD EtherCAT drive is hardware disabled (controlled by pin X8/4) and software enabled. If the motor is moved by hand and then the drive is hardware enabled, the axis will jump back to its original position. This only happens when the AKD is being used in EtherCAT mode. |
| 332581 | - | AKD drive faults get returned with the wrong prefix. | AKD drive faults are returned to SoftMotion in the form 0106xxxx. However, in the SoftMotion help, the faults are in the form 0101xxxx. |
| 333374 | - | On an unbound axis, gains are not properly set from the Gain Tuning Panel. | When changing the Control Loop Gains of an unbound axis in the Gain Tuning Panel, you have the option of tuning Gain Set 1 or Gain Set 2. If you change the Gain Set 1 gains and then try to read them from property nodes in a VI, the Gain Set 2 gains are returned instead. |
| 338057 | - | The Solve Profile method does not generate a complete profile for velocity-time contour moves. | When using a velocity-time contour move with the Solve Profile method, the array of profile points does not reach the final position. |
| 343813 | - | Using the Points[ ][ ] input when doing a contour move returns an error on any subsequent move. | When doing a contour move while using the Points[ ][ ] input instead of using a contour Table, any subsequent move returns error -77028: The buffer handle specified for the contouring move is invalid. Verify that the table contains the correct data for the operation and is of the correct type. |
| 349617 | - | When blending a single axis straight line move after a coordinate arc move, the arc move does not execute. | |
| 349659 | - | Blending coordinate moves using the At Deceleration blend mode can cause a velocity spike. | The velocity spike is not very noticeable on servo motors but can cause stepper motors to stall. At high velocities, motion may be halted without any errors or warnings. |
| 350236 | - | Using the slider tuning panel with high gains can cause LabVIEW to crash. | The gains needed to crash LabVIEW are usually so high that it causes the system to become unstable. The slider tuning panel is only available for AKD EtherCAT drives. |
| 356516 | - | Resetting the PI or PID FPGA VIs does not reset the accumulated position error. | The PI and PID FPGA VIs keep a memory of the last error so that they can apply an integral gain. When resetting these VIs, the last error does not get reset. |
| 356740 | - | The enable input of the periodic position compare VI is not level sensitive. | On a rising edge of the enable input, the position compare will enable. On a falling edge, the position compare will not disable. It will only disable by asserting the reset input. |