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 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-boun...@etherlab.org> De la part de Sebastien BLANCHET Envoyé : jeudi 17 septembre 2020 12:29 À : etherlab-users@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@etherlab.org http://lists.etherlab.org/cgi-bin/mailman/listinfo/etherlab-users -- Etherlab-users mailing list Etherlab-users@etherlab.org http://lists.etherlab.org/cgi-bin/mailman/listinfo/etherlab-users
