<html><head><style type="text/css"><!-- DIV {margin:0px;} --></style></head><body><div style="font-family:times new roman,new york,times,serif;font-size:12pt"><div>Hi everyone,<br><br>There's a concern with the PDO size that I am not clear and I'd like to ask:<br><br>- The size of the EtherCAT frame is not fixed, i.e. when running and capturing with wireshark, after every "reasonable" frame (the frames which I configured the bytes in), there's a frame with a added 14-byte datagram whose command is 'FPRD' (Configured Address Physical Read ). This makes me confused. Can anyone explain for me?<br><br>- The EL2262 takes 7bytes in the PDO. I don't understand why this takes so much space? It has only two outputs, and I used only:<br>const static ec_pdo_entry_reg_t domain_regs[] = { <br> { EL2262SlavePos, Beckhoff_EL2262, 0x7000, 0x01, &off_dig_out1},
<br> {}<br>};<br><br>Thank you in advance!<br>============================================<br>//EL2262<br><br>ec_pdo_entry_info_t slave_6_pdo_entries[] = {<br> {0x7800, 0x01, 16}, /* Cycle Counter0 */<br> {0x7000, 0x01, 1}, /* Output0 */<br> {0x7200, 0x01, 8}, /* Output0 */<br> {0x0000, 0x00, 1},<br> {0x0000, 0x00, 2},<br> {0x0000, 0x00, 3},<br> {0x0000, 0x00, 4},<br> {0x0000, 0x00, 5},<br> {0x0000, 0x00, 6},<br> {0x0000, 0x00, 7},<br> {0x7800, 0x02, 16}, /* Cycle Counter1 */<br> {0x7000, 0x02, 1}, /* Output1 */<br> {0x7200, 0x02, 8}, /* Output1 */<br> {0x0000, 0x00, 1},<br> {0x0000, 0x00, 2},<br> {0x0000, 0x00, 3},<br> {0x0000,
0x00, 4},<br> {0x0000, 0x00, 5},<br> {0x0000, 0x00, 6},<br> {0x0000, 0x00, 7},<br> {0x1d09, 0x98, 32}, /* StartTimeNextOutput */<br>};<br><br>ec_pdo_info_t slave_6_pdos[] = {<br> {0x1700, 1, slave_6_pdo_entries + 0}, /* CycCount0 */<br> {0x1600, 1, slave_6_pdo_entries + 1}, /* Sample0 */<br> {0x1800, 1, slave_6_pdo_entries + 2}, /* Sample0 */<br> {0x1710, 1, slave_6_pdo_entries + 3}, /* Gap */<br> {0x1711, 1, slave_6_pdo_entries + 4}, /* Gap */<br> {0x1712, 1, slave_6_pdo_entries + 5}, /* Gap */<br> {0x1713, 1, slave_6_pdo_entries + 6}, /* Gap */<br> {0x1714, 1, slave_6_pdo_entries + 7}, /* Gap */<br> {0x1715, 1, slave_6_pdo_entries + 8}, /* Gap */<br> {0x1716, 1, slave_6_pdo_entries + 9}, /* Gap
*/<br> {0x1701, 1, slave_6_pdo_entries + 10}, /* CycCount1 */<br> {0x1680, 1, slave_6_pdo_entries + 11}, /* Sample1 */<br> {0x1880, 1, slave_6_pdo_entries + 12}, /* Sample1 */<br> {0x1718, 1, slave_6_pdo_entries + 13}, /* Gap */<br> {0x1719, 1, slave_6_pdo_entries + 14}, /* Gap */<br> {0x171a, 1, slave_6_pdo_entries + 15}, /* Gap */<br> {0x171b, 1, slave_6_pdo_entries + 16}, /* Gap */<br> {0x171c, 1, slave_6_pdo_entries + 17}, /* Gap */<br> {0x171d, 1, slave_6_pdo_entries + 18}, /* Gap */<br> {0x171e, 1, slave_6_pdo_entries + 19}, /* Gap */<br> {0x1702, 1, slave_6_pdo_entries + 20}, /* StartTimeNextOutput */<br>};<br><br>ec_sync_info_t slave_6_syncs[] = {<br> {0, EC_DIR_OUTPUT, 10, slave_6_pdos + 0, EC_WD_ENABLE},<br> {1,
EC_DIR_OUTPUT, 10, slave_6_pdos + 10, EC_WD_ENABLE},<br> {2, EC_DIR_INPUT, 1, slave_6_pdos + 20, EC_WD_DISABLE},<br> {0xff}<br>};<br><br><br><br></div>
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