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<div class="moz-cite-prefix">Hello Erik,<br>
<br>
could you resolve your problems?<br>
<br>
I'm working with an HIWIN D1-N-18-E0-0-00 which should be of the
same family.<br>
The PDO mapping objects 0x1600 and 0x1A00 are the only one
mentioned in the Handbook "D1-N CoE Drive User Guide".<br>
But they are capable mapping seven PDO entries each (not six).<br>
<br>
I could use the variable PDO map for my requirements without
problems (0x60F4 object is part of it):<br>
<br>
[root@MCU:~]# ethercat pdos<br>
SM0: PhysAddr 0x1800, DefaultSize 20, ControlRegister 0x26,
Enable 1<br>
SM1: PhysAddr 0x18f6, DefaultSize 20, ControlRegister 0x22,
Enable 1<br>
SM2: PhysAddr 0x1000, DefaultSize 6, ControlRegister 0x64,
Enable 1<br>
RxPDO 0x1600 ""<br>
PDO entry 0x6040:00, 16 bit, ""<br>
PDO entry 0x607a:00, 32 bit, ""<br>
PDO entry 0x60ff:00, 32 bit, ""<br>
PDO entry 0x6071:00, 16 bit, ""<br>
PDO entry 0x60b8:00, 16 bit, ""<br>
PDO entry 0x607f:00, 32 bit, ""<br>
SM3: PhysAddr 0x1100, DefaultSize 10, ControlRegister 0x20,
Enable 1<br>
TxPDO 0x1a00 ""<br>
PDO entry 0x603f:00, 16 bit, ""<br>
PDO entry 0x6041:00, 16 bit, ""<br>
PDO entry 0x6064:00, 32 bit, ""<br>
PDO entry 0x606c:00, 32 bit, ""<br>
PDO entry 0x60b9:00, 16 bit, ""<br>
PDO entry 0x60ba:00, 32 bit, ""<br>
PDO entry 0x60f4:00, 32 bit, ""<br>
<br>
I do not know your configuration methods using hex2dec. May be
there is going something wrong,<br>
especially line "rv.SlaveConfig.sdo = { hex2dec('6060'),0,8,10; %
set Mode of Operation to Cyclic Synchronous Torque mode" looks to
me buggy.<br>
<br>
regards<br>
Ralf<br>
<br>
On Thu Sep 29 2016 15:17:38 GMT+0200 (CEST), Erik Euving
<a class="moz-txt-link-rfc2396E" href="mailto:e.j.euving@student.utwente.nl"><e.j.euving@student.utwente.nl></a> wrote:<br>
</div>
<blockquote
cite="mid:CAB4+=EaiDcefms50pSNQ1Kpd3CQFFqdCmm+b-=7cvcomsOd+rg@mail.gmail.com"
type="cite">
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<div style="font-size:small" class="gmail_default">
<div class="gmail_default" style="font-size:small">Dear all,<br>
<br>
</div>
<div class="gmail_default" style="font-size:small">Another
question regarding the D1-N-36-E0-2-1-00 drive by HIWIN.
When using the EtherCAT configurator, it is normally
possible to check/un-check TxPDO and RxPDO SDOs. For
example, 0x1600, 0x1601 and 0x1602. Likewise, 0x1a00
through 0x1a02. However appears that for the D1-N only
0x1600 and 0x1a00 are available, there are no others
listed. The manual does not mention them either, leading
me to assume that they are not available. Is this a
correct assumption?<br>
<br>
</div>
<div class="gmail_default" style="font-size:small">I
proceeded to try and program using the two I have (1600
and 1a00). Both theoretically have space for 6 PDOs each,
of which only 2 and 3 entries are used by default,
respectively for 0x1600 and 0x1a00. I decided to add a few
more. Below the lines of code I used for this in the
m-file:<br>
<br>
rv.SlaveConfig.sdo = { hex2dec('6060'),0,8,10; % set Mode
of Operation to Cyclic Synchronous Torque mode<br>
hex2dec('1600'),3,32,hex2dec('<wbr>60710010');
% adding Target Torque to mapping entry 3 of RxPDOs <br>
hex2dec('1600'),4,32,hex2dec('<wbr>60B20010')};
% adding Torque Offset to mapping entry 4 of RxPDOs <br>
% hex2dec('1a00'),4,32,hex2dec('<wbr>60f40020'); %
adding Following Error Actual Value to mapping entry 4 of
TxPDOs<br>
% hex2dec('1a00'),0,8,4}; % defining the number of
objects in 0x1a00<br>
<br>
</div>
<div class="gmail_default" style="font-size:small">This
conf. file loads and builds fine. No problem adding
objects to the RxPDOs. But once I uncomment the same lines
of code for the TxPDOs (for the Following Error, for
example), I get 'Invalid Output configuration' errors.
Does anyone have an idea why this could be? If needed, I
can supply more lines of codes or from the terminal, but
for now I won't make this email longer than needed. <br>
<br>
</div>
<div class="gmail_default" style="font-size:small">Thank
you!<br>
<br>
</div>
<div class="gmail_default" style="font-size:small">Kind
regards,<br>
</div>
Erik Euving</div>
</div>
</div>
<br>
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