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When deadman timer kicks in the motor node needs to ramp down, not just hard stop #164

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mjstn opened this issue Feb 18, 2022 · 0 comments

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customer high want

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mjstn commented Feb 18, 2022

Hard stop due to deadman timer can and has been toppling robots in the field for deadman timer stops.

This is not an MCB issue and should be dealt with where logic for such things is above the raw MCB motor control.

This may mean the MCB deadman is set a bit longer then the motor node ramps in slowdown at the currently stated deadman timer interval.

mjstn added the customer high want label

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