[mmurray70]

Here is my code to clamp:

#include "KMotionDef.h"


main()
{
	Delay_sec(0.25); // wait for everything to stop
	ch3->MaxOutput=1;  // reduce max gain
	ch3->I=0.0;	// reduce integrator
	
	SetBit(53); // turn on brake

	while (!ReadBit(1052)) WaitNextTimeSlice(); // Wait for clamped signal
	
	
    
}

And here is the code to unclamp:

#include "KMotionDef.h"


main()
{
	ClearBit(53); // turn off brake

	while (!ReadBit(1053)) WaitNextTimeSlice(); // Wait for unclamped signal

	ch3->MaxOutput=2000;  // increase max gain
	ch3->I=0.010;	// increase integrator	
    
}

I just configured my M30 to unclamp so it unclamps at the end of every program, and you will also want to do the same thing for your halt/reset button. So anytime im not running g-code, its unclamped. If I ever need to do some very heavy hogging with the MPG (not likely) ill just use the M code in MDI to reclamp.

[Need TECH Help!]

Hi Murray,
That is the same code i made minus the "disabling" of servo.

The M30 config is a simple solution, thanks
Troy