[etherlab-users] PDOs Mapping

Gavin Lambert gavin.lambert at tomra.com
Thu Feb 6 22:51:40 CET 2020


I can't speak to the servo drive mapping itself, but as to the other question:

ecrt_slave_config_sdoX is to specify SDO values that should be set during the PREOP -> SAFEOP -> OP transition.  It is intended for any SDO configuration required to bring the device to the intended operational state, especially eg. If the device disconnects or is rebooted during operation.  It must never be used for PDOs - neither for values, nor for the PDO Assign/Config objects.

It is different from the sdo_download requests because the latter only occur once at the time the call is made, while the config_sdo is stored and executed on every later PREOP -> SAFEOP transition (until the master is deactivated).  (These should also never be used for PDOs.)


Gavin Lambert
Senior Software Developer

[cid:logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png]
[cid:compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png]<http://www.compacsort.com> [cid:facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png] <https://www.facebook.com/Compacsort>  [cid:linkedin_4ec016ad-84fa-443c-85a3-b9615a4ccef8.png] <https://www.linkedin.com/company/compac-sorting-equipment/>  [cid:youtube_32142163-fc27-4aed-b14d-e8a377f98a6d.png] <https://vimeo.com/compacsort>  [cid:twitter_d89338d8-98c8-4b65-9a9e-7b1333160b0d.png] <https://twitter.com/compacsort>  [cid:insta2_1cd85de9-b3a2-4971-9904-52b2481a7c82.png] <https://www.instagram.com/compacsort/>

COMPAC SORTING EQUIPMENT LTD | 4 Henderson Pl | Onehunga | Auckland 1061 | New Zealand
Switchboard: +64 96 34 00 88 | tomra.com<http://www.tomra.com>

The information contained in this communication and any attachment is confidential and may be legally privileged. It should only be read by the person(s) to whom it is addressed. If you have received this communication in error, please notify the sender and delete the communication.

From: BUSSIERES Vincent
Sent: Friday, 7 February 2020 09:03
To: etherlab-users at etherlab.org
Subject: [etherlab-users] PDOs Mapping

Dear All,

I mapped the two RxPdo's objects below of my Elmo servodrive.
[cid:image003.jpg at 01D5DDA3.0A8B5990]

[cid:image005.jpg at 01D5DDA3.0A8B5990]

Mapping seems to be OK
[cid:image007.jpg at 01D5DDA3.0A8B5990]

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:image009.jpg at 01D5DDA3.0A8B5990]

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

[cid:image010.png at 01D5DDA3.0A8B5990]
24 Avenue de Pasleck
16400 LA COURONNE
-----------------------------------
www.hemeria-group.com<https://eur02.safelinks.protection.outlook.com/?url=https%3A%2F%2Fwebmail.nexeya.fr%2Fowa%2Fredir.aspx%3FC%3DGK_BqKCZef7LtPZnqnd_LGYr1NG9sz4Smy3iKIwO-pXqtJC7VgzXCA..%26URL%3Dhttp%253a%252f%252fwww.hemeria-group.com%252f&data=02%7C01%7Cgavin.lambert%40tomra.com%7C719bd3d34178497263fd08d7ab3f9fb5%7C4308d118edd143008a37cfeba8ad5898%7C0%7C0%7C637166162072223448&sdata=JacbktsaBi%2BI916MF%2F4cOwBsJgED8B10LC45dQpEdf0%3D&reserved=0>
P Afin de contribuer au respect de l'environnement, merci de n'imprimer ce courriel qu'en cas de nécessité.
Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme que ce soit.
This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.



-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0001.html>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: image003.jpg
Type: image/jpeg
Size: 21730 bytes
Desc: image003.jpg
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0004.jpg>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: image005.jpg
Type: image/jpeg
Size: 5340 bytes
Desc: image005.jpg
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0005.jpg>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: image007.jpg
Type: image/jpeg
Size: 24839 bytes
Desc: image007.jpg
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0006.jpg>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: image009.jpg
Type: image/jpeg
Size: 100801 bytes
Desc: image009.jpg
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0007.jpg>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: image010.png
Type: image/png
Size: 5034 bytes
Desc: image010.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0008.png>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png
Type: image/png
Size: 11438 bytes
Desc: logo_compac_5dcf97ef-52f5-498c-8b9b-728410ddffaf.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0009.png>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png
Type: image/png
Size: 1629 bytes
Desc: compacicon_82e8a8c7-154a-4a32-9720-a5badb6258e0.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0010.png>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png
Type: image/png
Size: 1750 bytes
Desc: facebook_fa85b924-53b9-45cc-8162-0564f64ec3a3.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0011.png>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: linkedin_4ec016ad-84fa-443c-85a3-b9615a4ccef8.png
Type: image/png
Size: 1855 bytes
Desc: linkedin_4ec016ad-84fa-443c-85a3-b9615a4ccef8.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0012.png>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: youtube_32142163-fc27-4aed-b14d-e8a377f98a6d.png
Type: image/png
Size: 1970 bytes
Desc: youtube_32142163-fc27-4aed-b14d-e8a377f98a6d.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0013.png>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: twitter_d89338d8-98c8-4b65-9a9e-7b1333160b0d.png
Type: image/png
Size: 20278 bytes
Desc: twitter_d89338d8-98c8-4b65-9a9e-7b1333160b0d.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0014.png>
-------------- next part --------------
A non-text attachment was scrubbed...
Name: insta2_1cd85de9-b3a2-4971-9904-52b2481a7c82.png
Type: image/png
Size: 1506 bytes
Desc: insta2_1cd85de9-b3a2-4971-9904-52b2481a7c82.png
URL: <http://lists.etherlab.org/pipermail/etherlab-users/attachments/20200206/3a9585f1/attachment-0015.png>


More information about the etherlab-users mailing list