Servo-drive enable delay needed

Hello guys,

after I got my encoders to work, I'm struggeling with the servo-enable timing.

I found, that as soon as I enable the machine in Gmoccapy, the servo-drives are also enabled. This particcular is a problem to me, due to the drive/ power/ E-Stop setup. 
When the machine is shut on (by Gmoccapy), the servo-drives are powered up and need a few ms before they can accept the enable signal.
So I need a time delay between machine-is-enabled and servo-enable.

I've searched the forum a lot, but was unable to find anything that really fits and works propperly.
I was able to set up a delay between my mouse-click and the machine-enable GPIO-Output signal send to the machine, but not between Machine enable and drive enable.

Maybe you have an idea on how to solve this issue

Thanks and best regards,
Simon

you can use a delay in ladder to solve this problem

Hello Anfänger,

I tried, but how ?
The problem is, that the drive-enable pin (TB5 NAN+ & NAN-) and the machine-is-on GPIO are switched simultaneously.
I can't find a way to delay the output on TB5
Edit: in my understanding, it doesn't matter, whether I program a delay by the timedelay- HAL function or by CL. My main problem is, how to decoupple machine-is-enabled and drive-enable.

regards,
Simon

Yeah, I've found a way to delay the servo enable!

I added the following to my custom-hal


In the main hal-file,  I disabled


sometimes, life can be so easy

Hi Tommy,

good point!
I'll add this next time when I'm at the machine

regards,
Simon