I've made a complete retrofit and here is the only problem:
SETUP
Servo + Gecko drive + Mach
PROBLEM
How to tell Mach that the gecko board are in control or not in control of the servo. Every times the motors are desactivated (overtorque, etc.) by the gecko board the mach controller continues to send pulse and doesn't fall in estop mode forcing us to start again the whole program and take the zeros again...very annoying. Can I use something to tell the software that the gecko board is not activated?
Thanks,
Boubou