[Etherlab-users] dynamic PDO unmapping

[BUSSIERES Vincent]

Hello,


I’d like to unmapp PDOs dynamically or to stop sending PDO data to a particular slave.

My EtherCAT network includes 6 slaves, among them digital inputs / outputs modules and servodrives modules.

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.

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.



So I’d like to know if it is possible to stop sending temporarly PDO to a particular slave or unmapp these PDOs.



Best regards



Vincent BUSSIERES

Responsable Technique Logiciel



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