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On 15/04/2011 04:58, Ravi Chemudugunta wrote:
<blockquote
cite="mid:BANLkTinbZQuu0QrHVOM+8ij=Uby7iN=oBw@mail.gmail.com"
type="cite">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>
<pre wrap="">
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</pre>
</blockquote>
Hi, <br>
<br>
I'm experiencing the same problem with a Parker TPD drive, did you
found a solution ?<br>
<br>
Bye,<br>
Thomas.<br>
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