[Etherlab-users] dynamic PDO unmapping

BUSSIERES Vincent vincent.bussieres at hemeria-group.com
Thu Sep 17 17:01:34 CEST 2020

Dear All,

Thanks a lot for your help. I placed servo drive slave into its own domain. Obviously I needed to desactivate heartbeat.
It may not be the best solution but it works....


Responsable Technique Logiciel

ZE Ma Campagne
36, Impasse Félix Nadar
Tel: 33 (0)
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-----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


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.

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
> Responsable Technique Logiciel
> ZE Ma Campagne
> 36, Impasse Félix Nadar
> Tel: 33 (0)
> www.hemeria-group.com
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