I've been working with several motor drives so far, and was able to find solutions to use them.
Now i have a project where i'm using both a Copley Xenus drive and an Elmo Gold drive controlled over EtherCat.
Because the SDI plugin for the copley dirve was not available at that time, i programmed the drive using SDO commands, what worked well, and was only for rotation purposes.
For the Elmo Gold drive, which is for position control, i wanted to use the Softmotion part.
But when combining those two in my project, it gave me an "unexpected Error" while deploying, which results in formatting the Crio-9045 and installing the software back.
Now i was thinking to use also the SDO commands for the Elmo Gold Drive, but encountering problems when trying to write to the "Control Word register" (h0x6040).
I can write to it, without any error, but the drive does not responds to it.
I made a small seperate project, where i'm trying to enable the drive via control word (h0x6040), and reading the status word (h0x6041).
But the status does not change.
Does the crio has to be in configuration- or active mode when trying to write the control word ??
Do i still need to run the SDI plug in ?
I'm able to write other parameters like velocity profiles, acceleration/deceleration parameters... so communication works.
Thx for replying,
Tom
