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

demon.han at aliyun.com demon.han at aliyun.com
Tue Apr 9 08:59:51 CEST 2019

Thanks for your help.
I have read your example of Kollmorgen AKD Servo Drive sometimes before,
but I find that 'ethercat download'  seem to make no sense,I will try TwinCAT again.
Thanks a lot.

demon.han at aliyun.com
发件人: Sebastien Blanchet
发送时间: 2019-04-08 23:56
收件人: demon.han at aliyun.com; etherlab-users
主题: Re: [etherlab-users] How to mapping PDOs of Panasonic driver?
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.
> --------------------------------------------------------------------------------
> demon.han at aliyun.com
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