[Etherlab-users] dynamic PDO unmapping

[BUSSIERES Vincent]

Hi Sebastien,

I also believe it would be preferable to stop the drive without breaking/modifying the EtherCAT communication.
I have got an Elmo Gold Whistle servo drive. In Elmo, controlled stop using brake ramp when the drive is disabled exists but only for velocity and position mode. I use torque mode, and there is no controlled stop for that mode. That why I develop a program which do that inside the servo drive triggered with a digital input. But I don't want EtherCAT master keed sending torque setpoints.

Regards

Vincent BUSSIERES
Responsable Technique Logiciel


ZE Ma Campagne
36, Impasse Félix Nadar
16000 ANGOULEME
Tel: 33 (0)9.72.40.35.08
www.hemeria-group.com 
 Afin de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.
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.
This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.




-----Message d'origine-----
De : Etherlab-users <etherlab-users-bounces at etherlab.org> De la part de Sebastien BLANCHET
Envoyé : jeudi 17 septembre 2020 12:29
À : etherlab-users at etherlab.org
Objet : Re: [Etherlab-users] dynamic PDO unmapping

Hi,

I think that it would be preferable to stop the drive without breaking/modifying the EtherCAT communication, so that you can continue to monitor the drive when it is stopping.

Which servo drive do you have ?

If you have a Kollmorgen AKD,

- You can configure DRV.DISMODE to trigger a controlled stop when the drive is disabled. In this case you can stop the motion by disabling the drive with the ControlWorld Object (0x6040:0x0),

- You can also trigger a MACRO with a digital input. In this case it opens many other possibilities.

Regards,
--
Sebastien BLANCHET


On 9/17/20 10:14 AM, BUSSIERES Vincent wrote:
> Thank you for your answers. I'll try to place each slave into its own domain and I'll keep you informed of the result.
> 
> To my mind, the best solution, would be the servo slave itself, when it detects a fault condition, should go into a state where it ignores whatever values the master is sending. I have already asked to the slave vendor, I'm still waiting for his answer. I don't this it will be possible
> 
> Best regards
> 
> Vincent BUSSIERES
> Responsable Technique Logiciel
> 
> 
> ZE Ma Campagne
> 36, Impasse Félix Nadar
> 16000 ANGOULEME
> Tel: 33 (0)9.72.40.35.08
> www.hemeria-group.com
-- 
Etherlab-users mailing list
Etherlab-users at etherlab.org
http://lists.etherlab.org/cgi-bin/mailman/listinfo/etherlab-users