Impedance control

RAA

When I try to set my actuator in impedance control, the Estop is immediately activated.

Setup:

actuator: Synapticon artilink S
MCX robot app - 6Axis Anthropomorphic
5 actuators in simulation, 1 in production

Method.

start-up motor using GUI.
set DriveLogic/driveMode to -6 (which is impedance mode) in desk.motorcortex.io

Philippe

Hi there,
This could happen for a number of reasons.
It looks like the EStop is actually cause by a Drive Error. Can you verify that please?
If it is a drive error, on the Robot App GUI you can go to the Diagnostics page and then read the Status Word. Check the Synapticon documentation to see what the Status Word bits mean. Make sure you read the documentation belonging to your specific Synapticon Firmware version, since this may vary. Also there you can also trigger reading the drive SDOs by clicking on the READ SDOs button, then the "Error Code" and "Error Description" fields are filled in that could give you clues.
On the Motorcortex side, we also have some Monitoring functions, see the Alarms page for those, these may also be setup to cause an emergency stop.

I would appreciate if you can post your solution here too if it is resolved.