Hello,<br><br>I am trying to change the default PDO assignments on the Yaskawa Sigma V Servo.<br><br>Currently the RX PDO only contains Control, Target Position, but I would also like<br>to map the Profile Velocity in.<br>
<br>The reference material recommends the following procedure:<br><br>* Set PDO assignment count on Sync Managers 2, 3 to 0<br>* Modify PDO Mapping<br>* Set PDO assignment count on Sync Managers 2, 3 to 1<br><br>I am using sdo transfers via command line to try to change the values:<br>
<br># disable sync<br>ethercat -p9 --type uint8 download 0x1c12 0 0<br>ethercat -p9 --type uint8 download 0x1c13 0 0<br><br># add velocity<br># push dictionary entry 0x6081:00 into the map<br>ethercat -p9 --type uint32 download 0x1601 3 0x60810020<br>
# update size<br>ethercat -p9 --type uint8 download 0x1601 0 3<br><br># re-enable sync<br>ethercat -p9 --type uint8 download 0x1c12 0 1<br>ethercat -p9 --type uint8 download 0x1c13 0 1<br><br>However after executing the command to push an entry into the map:<br>
<br>I get the following error.<br><br>$ ethercat -p9 --type uint32 download 0x1601 3 0x60810020<br>SDO transfer aborted with code 0x06040041: The object cannot be mapped into the PDO<br><br>I have tried doing the same with other dictionary entries that are compatible to be mapped<br>
as PDO items, still the same result.<br><br>=== Master 0, Slave 9 ===<br>Alias: 1<br>State: PREOP<br>Flag: +<br>Identity:<br> Vendor Id: 0x00000539<br> Product code: 0x02200001<br> Revision number: 0x00030001<br>
Serial number: 0x00000000<br>DL information:<br> FMMU bit operation: yes<br> Distributed clocks: yes, 32 bit<br> DC system time transmission delay: 2510 ns<br>Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]<br>
0 MII up open yes 8 1907351212 0 80<br> 1 MII down closed no - - - -<br> 2 N/A down closed no - - - -<br>
3 N/A down closed no - - - -<br>Mailboxes:<br> Bootstrap RX: 0x0000/0, TX: 0x0000/0<br> Standard RX: 0x1000/128, TX: 0x1080/128<br> Supported protocols: CoE<br>General:<br>
Group: <br> Image name: <br> Order number: <br> Device name: <br> CoE details:<br> Enable SDO: yes<br> Enable SDO Info: yes<br> Enable PDO Assign: yes<br> Enable PDO Configuration: yes<br> Enable Upload at startup: no<br>
Enable SDO complete access: no<br> Flags:<br> Enable SafeOp: no<br> Enable notLRW: yes<br> Current consumption: 0 mA<br><br><br>-- <br>C-x C-s, C-x C-c<br><br>