[etherlab-users] How to mapping PDOs of Panasonic driver?

Sebastien Blanchet blanchet at iram.fr
Mon Apr 8 17:56:30 CEST 2019


Servo drives have configurable PDO: they have different PDOs for Torque, 
Velocity or Position Mode.

You have to setup a SDO startup list to enable the PDO before mapping them.
You can use either 'ethercat download' or TwinCAT to find the appropriate 
startup list, then you can implement it in your program in C.

To illustrate the procedure, you can read my example for Kollmorgen AKD Servo Drive

Sebastien BLANCHET

On 4/8/19 11:56 AM, demon.han at aliyun.com wrote:
> Hi, all
> I have 2 Panasonic drivers link to Etherlab Master.
> When I put './ethercat-tool cstructs' in the terminal, I got the pdo mapping of 
> the 2 slaves,
> but I find that the 2 slaves pdo are not the same,listed in mail-attachment 
> nane 'cstruct.txt'.
> How can I make the 2 pdos share the same struct?
> Thanks any way.
> demon.
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