Hello, I'm trying to setup the communication between a Staubli robot controller and an IndraDrive HCS01.1E-W0005-A-03-B-ET-EC-NN-NN-NN-FW BoschRexroth Indradrive CS Basic Universal Multi-Ethernet using EtherCat (CoE). After few attemps now I am able to control the motor (Schunk) in velocity mode using CiA402 protocol, but I need to control it in position mode. I found this configuration that seems allows the positioning passing the target position, acceleration, deceleration - see pic1-2-3. With this configuration I am able to reach the OperationEnabled state with motor in torque, but I can not understand how to start the positioning. Attached the input/output state with OpEnabled - pic4. Any suggestion is very appreciated!
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