[etherlab-users] my servo driver doesn't run

[Sebastien Blanchet]

Hi,

It is not enough to send ENABLE_OPERATION (0x0F) to the control word. You have 
to follow the full starting sequence of the DS402 status machine.

In your case, you must send the command in the following order
-  CLEAR_ERROR      0x80
-  DISABLE_QSTOP    0x06
-  ENABLE_SWITCH_ON 0x07
-  ENABLE_OPERATION 0x0F

and after each command you must check that the status has changed before sending 
the next command.

I have already posted examples for a KOLLMORGEN AKD servo drive:

torque mode
http://lists.etherlab.org/pipermail/etherlab-users/2015/002698.html

velocity mode
http://lists.etherlab.org/pipermail/etherlab-users/2015/002724.html

position mode
http://lists.etherlab.org/pipermail/etherlab-users/2015/002723.html

regards,
---
Sebastien BLANCHET

On 12/01/2015 03:55 AM, 殷士龙 wrote:
> Hi, I have written an application program base on the igh ethercat master to
> control my servo, but doesn't run well.
> I sent control command as the following procedure and could see the servo
> operation mode was changed to expected mode.
> But the motor doesn't run, the statusword received was /0x52d0/.
> I don't know what the problem is, who have already control servo successfully?
> /EC_WRITE_U8(domain2_pd + off_servo1_opmode, 3);/
> /    EC_WRITE_U32(domain2_pd + off_servo1_targetvoc, 50);/
> /    EC_WRITE_U16(domain2_pd + off_servo1_ctrlword, 0x0f);
> --------------
>
> ------------
>
> ------------
>
> /