I'm trying to force the ControlWord for an EtherCAT drive as part of a troubleshooting strategy. However, I can't get control of the ControlWord. The value I set is overridden. I'm trying to place the value in several ways, however the values remain "0" in all these instances, and no change is detected in the status word:
For this first one. I've already forced the number "6". I retyped 6 into "prepared" for the sake of the photo. As you can see even though "6" has been forced it reads "0". Also the StatusWord reads 624 but should read "0" for shutdown, if a "6" really ever leaves the drive.
For this second one, I thought the SoftMotion axis might be overriding the device so I tried setting it there, but with the same result:
On a wild hair, I tried using an ST file, to access the setter for control word on the Axis. There's some junk in the SS you can igonore because it took me a minute to figure it out. Even though it says the ControlWord is set to "6", you can see the StatusWord is still "624" (not "0"). Checking back at interface for the Drive Device from the first picture also shows the setting is still a "0".
For my last trick I tried forcing in all three places at the same time, but to no avail.
I should also mention, the only program I have running is the ST program shown above.
I'm trying to force the
ControlWordfor an EtherCAT drive as part of a troubleshooting strategy. However, I can't get control of theControlWord. The value I set is overridden. I'm trying to place the value in several ways, however the values remain "0" in all these instances, and no change is detected in the status word:For this first one. I've already forced the number "6". I retyped 6 into "prepared" for the sake of the photo. As you can see even though "6" has been forced it reads "0". Also the StatusWord reads 624 but should read "0" for shutdown, if a "6" really ever leaves the drive.
For this second one, I thought the SoftMotion axis might be overriding the device so I tried setting it there, but with the same result:
On a wild hair, I tried using an ST file, to access the setter for control word on the Axis. There's some junk in the SS you can igonore because it took me a minute to figure it out. Even though it says the
ControlWordis set to "6", you can see theStatusWordis still "624" (not "0"). Checking back at interface for the Drive Device from the first picture also shows the setting is still a "0".For my last trick I tried forcing in all three places at the same time, but to no avail.
I should also mention, the only program I have running is the ST program shown above.
What worked for me:
Use SMC_SetControllerMode and set the nControllerMode to SMC_nocontrol.
With that, you can control the drive via Modes of Operation(16#6060) and Controlword(16#6040) directly.
Hope that helps,
Cheers!