[etherlab-users] PDOs Mapping

BUSSIERES Vincent vincent.bussieres at hemeria-group.com
Thu Feb 6 21:03:14 CET 2020


Dear All,

I mapped the two RxPdo's objects below of my Elmo servodrive.
[cid:image003.jpg at 01D5DD30.D087D830]

[cid:image005.jpg at 01D5DD30.D087D830]

Mapping seems to be OK
[cid:image012.jpg at 01D5DD30.D087D830]

But when I write in digital output PDO, nothing is sent. This PDO is peculiar because digital outputs are witten at subindex 1. I don't know if it's because of that reason.

[cid:image013.jpg at 01D5DD30.D087D830]

6 is the value sent in the controlword of the PDO 0x1605 but nothing for digital outputs.

You can see my PDO mapping code in the attached file. I have noticed that some people use « ecrt_slave_config_sdoX » function to clear and define Pdo. Is it necessary and what is the difference between this function and sdo download function ?
Regards

Vincent BUSSIERES
Responsable Technique Logiciel

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