GMezWheel
commented
1 year ago Hi @Koma2yu ,
You have to modify the following callback into DiffDriveController::cbTimerStateMachine().
...
// If STO detected, exit
if (sto_signal) {
return;
}
...
if (smccore::IPDSService::PDSState::OPERATION_ENABLED != pds_state_l) {
err_l = m_left_controller.enterInOperationEnabledState();
}
if (smccore::IPDSService::PDSState::OPERATION_ENABLED != pds_state_r) {
err_r = m_right_controller.enterInOperationEnabledState();
}
...Indeed, as soon as the STO is released, this callback try to change NMT & PDS state to OPER automatically (even if acknowledge_behavior is True) : => enterInOperationEnabledState()
As a suggestion, add you own pre-requesites before the call of enterInOperationEnabledState().
The AMR starts running as soon as the e-stop（STO）is released. So, in commissioning, I set restart_ acknowledge_behavior to ”ture”. When I started AMR in that state, the red light on the LEFT side motor LED was always on and it was stop running. When I set the restart_acknowledge_behavior of the left side back to “false” again, it started working. However, the right motor did not return when the emergency stop was released after the STO , but the left motor would return and start running when the emergency stop was released.
What should I do to prevent the AMR starts running as soon as the e-stop（STO）is released (for both the right and left motors)? I would like to solve this problem with software.