[Etherlab-users] dynamic PDO unmapping

[Graeme Foot]

Hi Vincent,


Some further thoughts:


- If your drive can handle splitting your input PDOs and your output PDOs into two different domains (i.e. put the drives inputs into your common domain and the drives outputs into its own domain that can be stopped) then you can still read your drives status while not sending the outputs.  The input domains watchdog can then probably also remain active and the drive can handle a communication loss.


- If you can map the operation mode request index/subindex (and maybe target velocity, updated from your actual velocity) into your drives output PDO as extra items, then you could continue all PDO communications (from a common domain) and swap the drive into velocity mode and let the drives internal controlled stop routine decelerate the motor.  You then also shouldn't need a custom routine installed on the drive.


Of course none of these options are actually safety rated as they all rely on the EtherCAT master doing something.  It might still be worth investigating further a drive logic only solution (maybe similar to the second option above, but where the slave logic puts the drive into velocity mode, so the torque from the PDO may be ignored anyway).

Regards,
Graeme.


________________________________
From: Etherlab-users <etherlab-users-bounces at etherlab.org> on behalf of BUSSIERES Vincent <vincent.bussieres at hemeria-group.com>
Sent: Friday, 18 September 2020 03:01
To: Sebastien BLANCHET; etherlab-users at etherlab.org
Subject: Re: [Etherlab-users] dynamic PDO unmapping

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....

Regards

Vincent BUSSIERES
Responsable Technique Logiciel


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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

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<http://www.hemeria-group.com>
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