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<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">The
Copley
Xenus Plus controller I’m working with has two vendor
pre-defined PDOs (for
Rx and Tx) which map the most common elements used in motor
control. Those PDOs
contain what we need, at least to start with, so I tried
assigning them to
their associated sync managers using
ecrt_slave_config_pdo_assign_add. It
failed. <o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Wireshark
and
dmesg showed what happened. For whatever reason, ethercat master
requested
the PDO mappings and then apparently initiated the process to
change or
reassign them. The actual failure occurs when EM tries to set
the number of
mappings in the PDO to 0, because the register is read only.<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Question
1:
Why does EM need to know the mappings to assign a PDO to a sync
manager?<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Question
2:
What did EM think it was going to remap the vendor assigned
entries with?
Nothing had been provided for that.<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Unless
I
made a mistake, I can only assume EM doesn’t provide a mechanism
to assign
fixed entry PDOs to sync managers. The PDO assignments in the
documentation and
examples which use static arrays and the wrapper method
ecrt_slave_config_pdos
works, so I’m not stuck, but I thought I’d report the problem I
ran into.<o:p></o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif""><o:p> </o:p></span></p>
<p class="MsoNoSpacing"><span
style="font-size:12.0pt;font-family:"Arial","sans-serif"">Keith
Rogers<o:p></o:p></span></p>
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mso-fareast-font-family:Calibri;
mso-fareast-theme-font:minor-latin;
mso-hansi-font-family:Calibri;
mso-hansi-theme-font:minor-latin;
mso-bidi-font-family:"Times New Roman";
mso-bidi-theme-font:minor-bidi;}
.MsoPapDefault
{mso-style-type:export-only;
margin-bottom:10.0pt;
line-height:115%;}
@page Section1
{size:8.5in 11.0in;
margin:1.0in 1.0in 1.0in 1.0in;
mso-header-margin:.5in;
mso-footer-margin:.5in;
mso-paper-source:0;}
div.Section1
{page:Section1;}
-->
</style>
</body>
</html>