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<p class=MsoNormal style='margin-left:1.0cm'><b><font size=2 face=Tahoma><span
lang=EN-US style='font-size:10.0pt;font-family:Tahoma;font-weight:bold'>From:</span></font></b><font
size=2 face=Tahoma><span lang=EN-US style='font-size:10.0pt;font-family:Tahoma'>
Alwin Damman - LR [mailto:A.Damman@tudelft.nl] <br>
<b><span style='font-weight:bold'>Sent:</span></b> Thursday, 21 June 2012 00:55<br>
<b><span style='font-weight:bold'>To:</span></b> Graeme Foot<br>
<b><span style='font-weight:bold'>Subject:</span></b> Yaskawa Ethercat via
Etherlab</span></font><font size=3 face="Times New Roman"><span lang=EN-US
style='font-size:12.0pt;font-family:"Times New Roman"'><o:p></o:p></span></font></p>
</div>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>Dear mister Graeme Foot,<o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>First I will introduce myself, I am an engineer
working at the <st1:place w:st="on"><st1:PlaceType w:st="on">university</st1:PlaceType>
of <st1:PlaceName w:st="on">Delft Technologies</st1:PlaceName></st1:place> and
working on a control loading system for some rudder pedals in our fixed
simulator.<o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>We have also chosen for a Yaskawa drive plus ethercat
communication via Etherlab from IgH. Well at this moment I get stocked at some
points.<o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>Some weeks ago, I was not able to communicate via pdos
and only via sdos. The reason was the older ethercat controller version of
Yaskawa, it was version 1.0. After sending and return, it is already upgraded
to version 3.05. But now I am not able to let the motor run via sdos or pdos
communication.<o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>At the internetforum: <a
href="http://lists.etherlab.org/pipermail/etherlab-users/2012/001627.html">http://lists.etherlab.org/pipermail/etherlab-users/2012/001627.html</a><o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>I found you with the most hits about the Yaskawa drive
and I thought it could be a good idea to contact you about the setting you have
made to let the system running.<o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>Do you have a testfile (cstruct file) for the etherlab
software to test the drive? And would you like to borrow this file with other
users like me?<o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>Yours faithfully,<o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'>Alwin Damman<o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=2 face=Calibri><span
style='font-size:11.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
margin-left:1.0cm'><i><font size=1 face=Tahoma><span style='font-size:7.5pt;
font-family:Tahoma;font-style:italic'>A. (Alwin) Damman</span></font></i><i><font
size=3 face="Times New Roman"><span style='font-size:12.0pt;font-family:"Times New Roman";
font-style:italic'><o:p></o:p></span></font></i></p>
<p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
margin-left:1.0cm'><i><font size=1 face=Tahoma><span style='font-size:7.5pt;
font-family:Tahoma;font-style:italic'>Phone +31 - 15 - 278 7936 <br>
Fax + 31 - 15 - 278 6480</span></font></i><i><font size=1 face=Arial><span
style='font-size:7.5pt;font-family:Arial;font-style:italic'> <br>
</span></font></i><i><font size=1 face=Tahoma><span style='font-size:7.5pt;
font-family:Tahoma;font-style:italic'>Email: </span></font></i><i><font size=1
face=Tahoma><span lang=NL style='font-size:7.5pt;font-family:Tahoma;font-style:
italic'><a href="mailto:a.damman@tudelft.nl"><span lang=EN-GB>a.damman@tudelft.nl</span></a></span></font></i><font
size=3 face="Times New Roman"><span style='font-size:12.0pt;font-family:"Times New Roman"'><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
margin-left:1.0cm'><i><font size=1 face=Arial><span style='font-size:7.5pt;
font-family:Arial;font-style:italic'>Visiting Address:</span></font></i><i><font
size=3 face=Tahoma><span style='font-size:12.0pt;font-family:Tahoma;font-style:
italic'><o:p></o:p></span></font></i></p>
<p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
margin-left:1.0cm'><i><font size=1 face=Tahoma><span style='font-size:7.5pt;
font-family:Tahoma;font-style:italic'>International Research Institute SIMONA <br>
Room location SIM 1.01</span></font></i><i><font size=1 face=Arial><span
style='font-size:7.5pt;font-family:Arial;font-style:italic'> <br>
Anthony Fokkerweg 1 <br>
2629 HC <st1:City w:st="on">Delft</st1:City> <br>
The <st1:place w:st="on"><st1:country-region w:st="on">Netherlands</st1:country-region></st1:place></span></font></i><i><font
size=1 face=Arial><span style='font-size:7.5pt;font-family:Arial;font-style:
italic'> </span></font></i><i><font size=3 face=Tahoma><span style='font-size:
12.0pt;font-family:Tahoma;font-style:italic'><o:p></o:p></span></font></i></p>
<p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
margin-left:1.0cm'><font size=1 face=Tahoma><span style='font-size:7.5pt;
font-family:Tahoma'>Postal Address:</span></font><font size=3
face="Times New Roman"><span style='font-size:12.0pt;font-family:"Times New Roman"'><o:p></o:p></span></font></p>
<p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
margin-left:1.0cm'><st1:PlaceName w:st="on"><i><font size=1 face=Tahoma><span
style='font-size:7.5pt;font-family:Tahoma;font-style:italic'>Delft</span></font></i></st1:PlaceName><i><font
size=1 face=Tahoma><span style='font-size:7.5pt;font-family:Tahoma;font-style:
italic'> </span></font></i><st1:PlaceType w:st="on"><i><font size=1
face=Tahoma><span style='font-size:7.5pt;font-family:Tahoma;font-style:italic'>University</span></font></i></st1:PlaceType><i><font
size=1 face=Tahoma><span style='font-size:7.5pt;font-family:Tahoma;font-style:
italic'> of technology </span></font></i><i><font size=1 face=Arial><span
style='font-size:7.5pt;font-family:Arial;font-style:italic'><br>
Faculty of Aerospace Engineering</span></font></i><font size=1 face=Arial><span
style='font-size:7.5pt;font-family:Arial'> <i><span style='font-style:
italic'><br>
Kluyverweg 1</span></i> <i><span style='font-style:italic'><br>
</span></i></span></font><i><font size=1 face=Tahoma><span style='font-size:
7.5pt;font-family:Tahoma;font-style:italic'>2629 HS <st1:City w:st="on"><st1:place
w:st="on">Delft</st1:place></st1:City></span></font></i><i><font size=1
face=Arial><span style='font-size:7.5pt;font-family:Arial;font-style:italic'><br>
</span></font></i><i><font size=1 face=Tahoma><span style='font-size:7.5pt;
font-family:Tahoma;font-style:italic'>The <st1:country-region w:st="on"><st1:place
w:st="on">Netherlands</st1:place></st1:country-region></span></font></i><i><font
size=1 face=Arial><span style='font-size:7.5pt;font-family:Arial;font-style:
italic'><o:p></o:p></span></font></i></p>
<p class=MsoNormal style='mso-margin-top-alt:auto;mso-margin-bottom-alt:auto;
margin-left:1.0cm'><font size=1 color="#016e98" face=Tahoma><span lang=NL
style='font-size:7.5pt;font-family:Tahoma;color:#016E98'><a
href="http://www.cs.lr.tudelft.nl"><span lang=EN-GB>http://www.cs.lr.tudelft.nl</span></a></span></font><font
size=3 face="Times New Roman"><span style='font-size:12.0pt;font-family:"Times New Roman"'><o:p></o:p></span></font></p>
<p class=MsoNormal style='margin-left:1.0cm'><font size=1 color="#016e98"
face=Tahoma><span lang=NL style='font-size:7.5pt;font-family:Tahoma;color:#016E98'><a
href="http://www.lr.tudelft.nl">http://www.lr.tudelft.nl</a></span></font><font
size=1 face=Tahoma><span lang=NL style='font-size:7.5pt;font-family:Tahoma'><o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>=======================================================================<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Hi,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>I'm using Cyclic position mode with the
drives.<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>I don't have a small test file or anything
that would be easy to read, so I'll try to summarise it below:<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>My PDO setup is as follows:<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>// Object
dictionary on page 8-2 of EtherCAT users manual<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>ec_pdo_entry_info_t
yaskawaSGDV_pdoEntries[] = {<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x6040, 0x00, 16}, // pg 8-21 control (rw)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x607a, 0x00, 32}, // pg 8-30 target position (rw) (for
cyclic sync pos mode)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x60b1, 0x00, 32}, // pg 8-37 velocity offset (rw) (for
cyclic sync pos mode)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x6072, 0x00, 16}, // pg 8-40 max torque (rw) in 0.1%
increments, what is +ve torque lim and - torque lim? pdo or sdo??<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x60fe, 0x01, 32}, // pg 8-44 outputs (rw) (bits 17, 18, 19
control outputs 1, 2, 3)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x60b8, 0x00, 16}, // pg 8-41 latchControl (rw) (bits: 0
enable latch, 1 single/continuous trigger,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
//
2 0=latch on
S14 | 1=latch on C, 4 enable latch sampling???)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x6060, 0x00, 8}, // pg 8-28 mode of operation (rw)
(8=cyclic pos, 9=cyclic vel)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x6041, 0x00, 16}, // pg 8-23 status (r)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x6064, 0x00, 32}, // pg 8-34 actual position (r)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x606c, 0x00, 32}, // pg 8-38 actual velocity (r) required??<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x6077, 0x00, 16}, // pg 8-39 actual torque (r)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x60f4, 0x00, 32}, // pg 8-35 actual following error (r)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x60fd, 0x00, 32}, // pg 8-43 inputs (r) (available inputs:
0 (rev lim), 1 (fwd lim), 2 (hm), <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
//
16 - 22 (via CN1), 25 - 25 (via base block))<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x60ba, 0x00, 32}, // pg 8-42 latchPos (r) (via touch probe
1)<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x60b9, 0x00, 16}, // pg 8-42 latchStatus (r) (bits: 0 latch
enabled, 1 latched, 7 latched toggle (for continuous mode))<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x6061, 0x00, 8}, // pg 8-28 current mode of operation<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x603f, 0x00, 16}, // pg 8-21 last error code<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>};<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>ec_pdo_info_t
yaskawaSGDV_pdos[] = {<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x1600, 7, yaskawaSGDV_pdoEntries + 0},<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x1a00, 8, yaskawaSGDV_pdoEntries + 7},<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0x1a01, 2, yaskawaSGDV_pdoEntries + 15},<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>};<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>ec_sync_info_t
yaskawaSGDV_syncs[] = {<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{2, EC_DIR_OUTPUT, 1, yaskawaSGDV_pdos + 0, EC_WD_ENABLE},<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{3, EC_DIR_INPUT, 2, yaskawaSGDV_pdos + 1, EC_WD_DISABLE},<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>
{0xff}<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>};<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>To configure the drive I call:<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>slaveConfig = ecrt_master_slave_config(master,
alias, position, vendorID, productCode);<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>ecrt_slave_config_pdos(slaveConfig,
EC_END, yaskawaSGDV_syncs);<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Then for each pdo entry:<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face="Courier New"><span
style='font-size:10.0pt;font-family:"Courier New";color:navy'>offset =
ecrt_slave_config_reg_pdo_entry(slaveConfig, yaskawaSGDV_pdoEntries[pdoIdx].index,
yaskawaSGDV_pdoEntries[pdoIdx].subindex, domains[domIdx].domain,
&bitPos); <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><b><font size=2 color=navy face=Arial><span
style='font-size:10.0pt;font-family:Arial;color:navy;font-weight:bold'>Important
Note</span></font></b><font size=2 color=navy face=Arial><span
style='font-size:10.0pt;font-family:Arial;color:navy'>: you need two separate
domains. One for the read pdo's and one for the write pdo's. I also
have a third domain for all other modules pdo's to ensure the yaskawa domains remain
separate <o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>I think that’s it.<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Regards,<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Graeme.<o:p></o:p></span></font></p>
<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><o:p> </o:p></span></font></p>
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