I am using two Mitsubishi EtherCat Drives and servos. I am starting a coordinate move with the two axis. I have a DAQ engine that is monitoring load cell outputs (on an RT target). When a load set point is exceeded my motion engine sends a stop move command, with the stop mode set to Immediate. I have timed the limit flag and the time the stop command is executed. The time delay is minimal. It seems that the servo is taking
about 100msec to stop, once the stop command is sent. When I look at the position data, it seems like the servo does not react for about 70msec, after the command is executed. If I use the power command to disable the drive, instead of the stop command, the reaction time is more reasonable, about 40msec. I am wondering why there is such a large lag between executing the stop command and the servo responding.
