Parameter to choose whether to stop the control on internal limit#461
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a-miyadera wants to merge 1 commit intoros-industrial:melodic-develfrom
Open
Parameter to choose whether to stop the control on internal limit#461a-miyadera wants to merge 1 commit intoros-industrial:melodic-develfrom
a-miyadera wants to merge 1 commit intoros-industrial:melodic-develfrom
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The canopen_motor_node stops the servo control when an internal limit occurs.
But the motor driver boards on our robot can continue to operate with the internal limit.
At that time, the control (e.g., current) is appropriately limited to the set value.
So, it is not necessary to always stop the control.
In some cases, we want to continue the operation by using the limiting functions provided by the board.
Therefore, we have added a setting parameter to choose whether or not to stop the servo control when an internal limit occurs.