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Hello,<br>
<br>
please see the idn functions in ecrt.h<br>
<br>
<br>
<br>
<br>
** Add an SoE IDN configuration.<br>
*<br>
* A configuration for a Sercos-over-EtherCAT IDN is stored in the slave<br>
* configuration object and is written to the slave whenever the slave
is<br>
* being configured by the master. This usually happens once on master<br>
* activation, but can be repeated subsequently, for example after the
slave's<br>
* power supply failed.<br>
*<br>
* The \a idn parameter can be separated into serveral sections:<br>
* - Bit 15: Standard data (0) or Product data (1)<br>
* - Bit 14 - 12: Parameter set (0 - 7)<br>
* - Bit 11 - 0: Data block number (0 - 4095)<br>
*<br>
* Please note that the this function does not do any endianess
correction.<br>
* Multi-byte data have to be passed in EtherCAT endianess
(little-endian).<br>
*<br>
* \retval 0 Success.<br>
* \retval <0 Error code.<br>
*/<br>
int ecrt_slave_config_idn(<br>
ec_slave_config_t *sc, /**< Slave configuration. */<br>
uint8_t drive_no, /**< Drive number. */<br>
uint16_t idn, /**< SoE IDN. */<br>
ec_al_state_t state, /**< AL state in which to write the IDN
(PREOP or<br>
SAFEOP). */<br>
const uint8_t *data, /**< Pointer to the data. */<br>
size_t size /**< Size of the \a data. */<br>
);<br>
<br>
<br>
<br>
It is handled like a sdo request.<br>
<br>
Please note you should take the idn export list from twincat to
configure your slave, because idn paramers can have a very complicated
structure.<br>
<br>
Please also note, Beckhoff will switch to sdo and DS402 in future
products, SOE seems to be dead in the future products!!!!<br>
<br>
Best regards<br>
<br>
Andreas<br>
<br>
Am 03.07.2011 22:07, schrieb Cleverson:
<blockquote cite="mid:5131ADBDC05E4675AE8FDCBAC2EA2324@deottiPC"
type="cite">
<div dir="ltr">
<div
style="font-family: 'Calibri'; color: rgb(0, 0, 0); font-size: 12pt;">
<div style="">
<div>Recently i was started to develop an application using as base
the example mini.c</div>
<div>Now i have 3 EL1008, 1 EL2008 ,1 EL3062 and 1 EL 4002 working
very fine, but </div>
<div>i'm trying to control two servo drivers AX 5206, and i'm
having dificulties because</div>
<div>have no examples to use functions, config, write and read IDN.</div>
<div>If someone have some experience like this, i will stay very
gratefull for one help.</div>
<div> </div>
<div>Cleverson Deotti</div>
</div>
</div>
</div>
<pre wrap="">
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</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">Mit freundlichem Gruß
Andreas Stewering-Bone
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