Control Desk

marcoleone

I linked the PDO of the Circulo 9 with the Motrocortex parameters, but I am still not able to control my hardware.
(Now I have only an actuator linked)

philippeH

Hi Marco,

To summarize what went wrong,

In Desk: Motorcortex sends data to drive (Control Word = 15), but does not receive data (Status Word = 0). Something is wrong with drive configuration
Check if drive is in OP (meaning configured correctly) In Command Line Type: ethercat slaves results in drive PREOP.
In ECAT-Tool we scanned device from bus, and noted it had Revision Number #x0c000002
We Uploaded ESI file retrieved from OBLAC and noted this ESI file had Revision Number #x0c000001, You applied this ESI file to the device, but with a wrong Revesion Number so the drive does not switch to OP.
We manually Edited the master.xml and changed Revision Number to #x0c000002.
After we deployed this master.xml the ethercat slaves displays Drive is in OP.
These steps solved the problem, The Drive can be engaged and controlled with generic app.

Note: Your ESI file did not match with the hardware, This could be a bug from OBLAC software.

marcoleone

Hi Philippe,
Many thanks for your support.
I will try to generate again the ESI file by the OBLAC platform in order to verify if there is a match with the HW.
Moreover, I would like to ask you if can I link the 'collisionDetector' parameter with the PDO of the Circulo and which is the PDO that I have to use.
What I would like to test is the possibility of automatically stopping the actuator motion when a collision occurs.
Best Regards,
Marco

philippeH

marcoleone

Good to hear, In case if the ESI file from OBLAC does not match the hardware, could you please report this back to synapticon, that they can have a look at this problem.

You are using the generic app correct? Have you seen this message:
https://support.motorcortex.io/d/50-collision-detection-in-generic-app

Question: Does your setup have a torque sensor?

marcoleone

Hy Philippe,
Thank you for your feedback.

Yes, we use an external torque sensor (custom, designed by us) linked to the analog input of Circulo 9.

philippeH

I recommend you to use, Robot App 1.7.5 from the store,

There is a Tab Torque Sensor Calibration

In the standard, Robot APP GUI there is no collision detection, use desk to search for the paths:

For Collision Detector you need to link PDO entrie TorqueSensor Actual value to motorcortex parameter:
For example:

Also i recommend to checkout the sensor torqueTransducer: