<html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=Windows-1252">
<style type="text/css" style="display:none;"><!-- P {margin-top:0;margin-bottom:0;} --></style>
</head>
<body dir="ltr">
<div id="divtagdefaultwrapper" style="font-size:12pt;color:#000000;font-family:Calibri,Helvetica,sans-serif;" dir="ltr">
Hello,
<div style="color: rgb(0, 0, 0);">
<div>
<div style="">
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<br>
</p>
I’d like to unmapp PDOs dynamically or to stop sending PDO data to a particular slave.
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
My EtherCAT network includes 6 slaves, among them digital inputs / outputs modules and servodrives modules.</p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
I have developped safety functions embeded into the servodrives modules. For instance, in case of emergency stop, the embeded program reads digital safety emerency input and configures a torque setpoint to stop the motor very quickly.
</p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
The problem is that EtherCAT master sends PDO frames continuously to all the slaves, in particular torque setpoint PDO to servodrive. Therefor the setpoint configured in embeded program is replaced by the one sent by EtherCAT master.</p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
</p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
So I’d like to know if it is possible to stop sending temporarly PDO to a particular slave or unmapp these PDOs.</p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
</p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
Best regards</p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<span style="color:#1F497D"> </span></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<b><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:#1F497D">Vincent BUSSIERES</span></b></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<b><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:black">Responsable Technique Logiciel</span></b></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<b><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:black"> </span></b></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<span style="color:black"><img naturalheight="72" naturalwidth="96" id="Image_x0020_1" alt="1572337113342" style="width:1.0in; height:.75in" height="72" width="96" src="cid:image001.png@01D68C54.1B165C00"></span></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<i><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:#00295C">ZE Ma Campagne</span></i></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<i><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:#00295C">36, Impasse Félix Nadar</span></i></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<i><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:#00295C">16000 ANGOULEME</span></i></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<i><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:gray">Tel: 33 (0)9.72.40.35.08</span></i></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<i><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:#999999"><a href="https://webmail.nexeya.fr/owa/redir.aspx?C=GK_BqKCZef7LtPZnqnd_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..&URL=http%3a%2f%2fwww.hemeria-group.com%2f" target="_blank" style="color: rgb(5, 99, 193); text-decoration: underline;"><span style="color:#0563C1">www.hemeria-group.com</span></a></span></i><span style="color:black"> <br>
</span><span style="font-size:16.0pt; font-family:Webdings; color:green">P</span><span style="color:black"> </span><span style="font-size:8.0pt; font-family:"Verdana",sans-serif; color:#99CC00">Afin de contribuer au respect de l'environnement, merci de n'imprimer
ce courriel qu'en cas de nécessité.</span><span style="color:black"></span></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<span style="font-size:8.0pt; font-family:"Verdana",sans-serif; color:gray">Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.</span><span style="color:black"><br>
</span><span style="font-size:8.0pt; font-family:"Verdana",sans-serif; color:gray" lang="EN-GB">This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.</span><span style="color:black"></span></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<b><span style="font-size:10.0pt; color:black"> </span></b></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
<b><span style="font-size:10.0pt; font-family:"Arial",sans-serif; color:#1F497D"> </span></b></p>
<p style="margin: 0cm 0cm 0.0001pt; font-size: 11pt; font-family: "Calibri", sans-serif;">
</p>
</div>
</div>
</div>
</div>
</body>
</html>