How do I send torque to my slave via the Python API with the machine app?

SamW

Hello. I have the machine app deployed on my box with 1 axis. I'm using the following Python example to connect to the box and then send a scalar value to a variable in the parameter tree.

https://docs.motorcortex.io/docs/developing-client-applications/python/examples/

This works for the following paths:

root/DriveLogic/driveMode
root/Logic/stateCommand

But when when I attempt write a value to the target torque PDO that I specified in the Ethercat configurations, the value does not get updated as seen in Desk. When I manually set the value in Desk, the value is updated to the drive and torque is applied to the motor.

Can someone help me understand why this is happening please?

SamW

So I deleted the mapping to my Target Torque PDO and everything seems to work now: root/AxesControl/actuatorControlLoops/actuatorControlLoop0X/motorTorqueTarget

philippeH

Hi Sam,

This is correct.
Internal linking overrides the parameter.
This link can be either within the ECAT-Tool itself or in the linking files.

After removing the internal linking, you can subscribe to the parameter.

I will close this issue