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<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'>As another possible workaround (completely
untested) you could try putting them in two separate domains. You might
need to queue the read domain before the write domain to ensure you are reading
the slave updated value rather than the newly written value.<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'>If this works, the write value can always
be 1 which means you can re-arm the trigger in one cycle instead of two.
Or you may need to only queue the write domain when you need to re-arm......<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'>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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<p class=MsoNormal><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'>
Thomas Nelson [mailto:gcsnh@granitecomputersciences.com] <br>
<b><span style='font-weight:bold'>Sent:</span></b> Friday, 25 January 2013
04:01<br>
<b><span style='font-weight:bold'>To:</span></b> etherlab-users@etherlab.org<br>
<b><span style='font-weight:bold'>Cc:</span></b> <st1:PersonName w:st="on">Graeme
Foot</st1:PersonName><br>
<b><span style='font-weight:bold'>Subject:</span></b> Re: [etherlab-users]
Accessing same PDO for both read and write</span></font><span lang=EN-US><o:p></o:p></span></p>
</div>
<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><o:p> </o:p></span></font></p>
<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><o:p> </o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'>On Jan 23, 2013, at 11:21 PM, <st1:PersonName w:st="on">Graeme Foot</st1:PersonName>
wrote:<o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><br>
<br>
<o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Hi,<u1:p></u1:p></span></font><o:p></o:p></p>
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<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><u1:p> </u1:p></span></font><o:p></o:p></p>
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<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>I don't know the answer to the question,
but as a workaround you could set up reading the value via PDO and write the
value via an SDO. Writing via SDOs take approx 30ms for CoE.<u1:p></u1:p></span></font><o:p></o:p></p>
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<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><u1:p> </u1:p></span></font><o:p></o:p></p>
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<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Regards,<u1:p></u1:p></span></font><o:p></o:p></p>
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<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'>Graeme.<u1:p></u1:p></span></font><o:p></o:p></p>
</div>
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<p class=MsoNormal><font size=2 color=navy face=Arial><span style='font-size:
10.0pt;font-family:Arial;color:navy'><u1:p> </u1:p></span></font><o:p></o:p></p>
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<p class=MsoNormal><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><span
class=apple-converted-space><font size=2 face=Tahoma><span lang=EN-US
style='font-size:10.0pt;font-family:Tahoma'> </span></font></span><font
size=2 face=Tahoma><span lang=EN-US style='font-size:10.0pt;font-family:Tahoma'><a
href="mailto:etherlab-users-bounces@etherlab.org">etherlab-users-bounces@etherlab.org</a><span
class=apple-converted-space> </span>[mailto:etherlab-users-bounces@etherlab.org]<span
class=apple-converted-space> </span><b><span style='font-weight:bold'>On
Behalf Of<span class=apple-converted-space> </span></span></b>Thomas
Nelson<br>
<b><span style='font-weight:bold'>Sent:</span></b><span
class=apple-converted-space> </span>Thursday, 24 January 2013 16:15<br>
<b><span style='font-weight:bold'>To:</span></b><span
class=apple-converted-space> </span><a
href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b><span style='font-weight:bold'>Subject:</span></b><span
class=apple-converted-space> </span>[etherlab-users] Accessing same PDO
for both read and write</span></font><o:p></o:p></p>
</div>
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<u1:p></u1:p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><u1:p> </u1:p><o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'>All,<u1:p></u1:p><o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><u1:p> </u1:p><o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'>My client has a robotics system using Copley Controls Accelnet Plus
drives with a digital input-triggered capture capability that we're trying to
use for positioning calibration. This feature requires the ability to map
the same slave CoE object for both read to detect the capture event and write
to subsequently rearm the trigger. Mapping this object to both Tx and Rx PDOs
appears to work correctly from the PDO mapping info returned from the master.
However, when I attempt to register the corresponding mapped PDO entries
in the domain, I get the same domain offset for both PDOs, preventing the
application from managing them independently.<u1:p></u1:p><o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><u1:p> </u1:p><o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'>The ecrt_slave_config_reg_pdo_entry() function doesn't have an
argument to distinguish the direction of the PDO mapping, so is this capability
not supported by the master?<u1:p></u1:p><o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><u1:p> </u1:p><o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'>We're using the 1.5.0 release.<o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><o:p> </o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'>We had in fact discussed this as a possible alternative, but were
concerned that the SDO latency (which we didn't know previously - thanks!)
could prevent the trigger from being rearmed quickly enough to avoid missing a
subsequent event at the target motion rates. The system uses optical sensors
for this calibration that generate rising and falling edge events that must be
detected, and the r/w object in question handles trigger rearming for both
types of events.<o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><o:p> </o:p></span></font></p>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'>Best regards,<o:p></o:p></span></font></p>
</div>
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<p class=MsoNormal><font size=3 face="Times New Roman"><span style='font-size:
12.0pt'><o:p> </o:p></span></font></p>
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<p class=MsoNormal><font size=2 color=black face=Helvetica><span
style='font-size:10.5pt;font-family:Helvetica;color:black'>Tom Nelson<o:p></o:p></span></font></p>
</div>
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<p class=MsoNormal><font size=2 color=black face=Helvetica><span
style='font-size:10.5pt;font-family:Helvetica;color:black'>Consulting Engineer<o:p></o:p></span></font></p>
</div>
<div>
<p class=MsoNormal><font size=2 color=black face=Helvetica><span
style='font-size:10.5pt;font-family:Helvetica;color:black'>Granite Computer
Sciences, LLC<o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=2 color=black face=Helvetica><span
style='font-size:10.5pt;font-family:Helvetica;color:black'>(603) 672-8525<o:p></o:p></span></font></p>
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<p class=MsoNormal><font size=2 color=black face=Helvetica><span
style='font-size:10.5pt;font-family:Helvetica;color:black'><o:p> </o:p></span></font></p>
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