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</head>
<body lang="DE" link="black" vlink="black">
<div class="WordSection1">
<p class="MsoNormal"><span class="hps"><span lang="EN" style="color:#222222">Hello,<o:p></o:p></span></span></p>
<p class="MsoNormal"><span lang="EN" style="color:#222222"><br>
<span class="hps">We use</span> <span class="hps">the</span> <span class="hps">IgH</span>
<span class="hps">EtherCAT Master</span> <span class="hps">for communication</span>
<span class="hps">with self-developed</span> <span class="hps">EtherCAT slaves</span>
<span class="hps">from Zwick</span>. <span class="hps">We have</span> <span class="hps">
the problem with</span> <span class="hps">that</span> <span class="hps">SDO data is</span>
<span class="hps">appended to the</span> <span class="hps">Ethernet frame</span> <span class="hps">
with the</span> <span class="hps">PDO data</span> <span class="hps">and</span> <span class="hps">
this</span> <span class="hps">will</span> <span class="hps">then</span> <span class="hps">
vary in length</span>, depending on whether <span class="hps">the SDO</span> <span class="hps">
data is transmitted</span></span><span class="hps"><span lang="EN"> </span></span><span class="hps"><span lang="EN" style="color:#222222">or not.</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">Is there</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">a way</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">for</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">their</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">master</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">the</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">SDO data</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">to send</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">in a separate</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">frame or</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">this</span><span lang="EN">
</span></span><span class="hps"><span lang="EN" style="color:#222222">will always be appended</span>?<o:p></o:p></span></p>
<p class="MsoNormal"><span class="hps"><span lang="EN" style="color:#222222"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span class="hps"><span lang="EN" style="color:#222222">Thank you.<o:p></o:p></span></span></p>
<p class="MsoNormal"><span class="hps"><span lang="EN" style="color:#222222"><o:p> </o:p></span></span></p>
<p class="MsoNormal"><span class="hps"><span lang="EN" style="color:#222222">Regards<o:p></o:p></span></span></p>
<p class="MsoNormal"><span style="font-size:10.0pt;font-family:"Courier New";mso-fareast-language:DE"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:DE">Werner Zeller<o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
</div>
</body>
</html>