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
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