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<div class="moz-cite-prefix">Thanks for the quick reply. I hadn't
discovered the ecrt_slave_config* functions yet but those look a
lot easier to use then what I was imagining setting up with the
...request_write function and state monitoring. Also thanks for
the explanation of SDOs vs PDOs. This helps a lot. <br>
<br>
<br>
On 12/17/2015 04:29 PM, Gavin Lambert wrote:<br>
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<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">SDOs
are just objects that can be accessed via acyclic (mailbox)
transfers. Typically (if the slave supports CoE) all PDOs
can be accessed as SDOs (though usually there’s little
point) but only some SDOs can be accessed as PDOs.<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">Most
of the time SDOs are used purely for configuration – values
that you want to set once on startup and never change
again. For this case, simply use the ecrt_slave_config_sdo*
family of functions during the configuration phase (when
you’re registering PDOs) and the library will take care of
sending this to the device.<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">The
ecrt_sdo_request family of functions are for the other kind
of SDO access, where there is something that you want to
read or modify during live operation. This is rarer (except
for things like diagnostic monitoring) as typically live
changes are done via PDOs instead. But sometimes these can
be useful if it’s only extremely rare that you want to
change something so you don’t want to “waste” space in the
normal domain transfer.<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US">An
SDO transfer will take multiple cycles to execute (absolute
minimum is about 3, but it usually takes more); each slave
can only process one transfer at a time; and the master has
a small limit on the number of concurrent transfers it will
actually issue, although it can hold extras in a queue.<o:p></o:p></span></p>
<p class="MsoNormal"><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:windowtext"
lang="EN-US">From:</span></b><span
style="font-size:11.0pt;font-family:"Calibri",sans-serif;color:windowtext"
lang="EN-US"> etherlab-users
[<a class="moz-txt-link-freetext" href="mailto:etherlab-users-bounces@etherlab.org">mailto:etherlab-users-bounces@etherlab.org</a>] <b>On
Behalf Of </b>John Hubbard<br>
<b>Sent:</b> Friday, 18 December 2015 11:42<br>
<b>To:</b> <a class="moz-txt-link-abbreviated" href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] EL6688 SDOs<o:p></o:p></span></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Hello, <br>
<br>
I've not gotten my Beckhoff EL1252 and EL2252 modules mostly
working (I've still got some confusion WRT distributed
clocks, and I'm still seeing the warnings/errors I mentioned
the other day). I'm now working on trying to get the EL6688
module (IEEE 1588/Precision Time Protocol) up and running.
From my reading of the Beckhoff documentation I'm under the
impression that most of the setup options (e.g. Ethernet
configuration and PTPv1 vs PTPv2 mode) need to be setup via
SDOs instead of PDOs. (Is this what others would expect?)
For reference I've attached the full SDO dictionary that I
obtained via 'ethercat sdos'. <br>
<br>
I'm a little unclear what the difference between SDOs and
PDOs is. Is the difference just the PDOs can be
read/written every cycle, while SDOs can only be
read/written when ecrt_sdo_request_state ==>
EC_REQUEST_SUCCESS (following an ecrt_sdo_request_write when
the state is UNUSED)? Is there a limit to how many SDOs I
can request writes per cycle? From the example it looks
like writing an SDO is done using the same macro as writing
a PDO (i.e. EC_WRITE_U32(some_sdo)), is that correct? <br>
<br>
From the mailing list it looks like there was someone that
attempted to use an EL6688 module back in 2010. Has anyone
used one more recently (i.e. with etherlabs 1.5), and if so
do they have any code snippets that they would be
willing/able to share? <br>
<br>
Thanks. <br>
<br>
<br>
<br>
<o:p></o:p></p>
<pre>-- <o:p></o:p></pre>
<pre>-john<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
<pre>To be or not to be, that is the question<o:p></o:p></pre>
<pre> 2b || !2b<o:p></o:p></pre>
<pre>(0b10)*(0b1100010) || !(0b10)*(0b1100010)<o:p></o:p></pre>
<pre> 0b11000100 || !0b11000100<o:p></o:p></pre>
<pre> 0b11000100 || 0b00111011<o:p></o:p></pre>
<pre> 0b11111111<o:p></o:p></pre>
<pre>255, that is the answer.<o:p></o:p></pre>
<pre><o:p> </o:p></pre>
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<pre class="moz-signature" cols="72">--
-john
To be or not to be, that is the question
2b || !2b
(0b10)*(0b1100010) || !(0b10)*(0b1100010)
0b11000100 || !0b11000100
0b11000100 || 0b00111011
0b11111111
255, that is the answer.
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