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<p>I am trying out etherlab to connect my computer to a Parker Hannifin motor controller - you can read about it here:
<a href="http://www.parker.com/Literature/Electromechanical%20North%20America/CATALOGS-BROCHURES/PSeries/PSeries_UG_EtherCAT_A.pdf" class="OWAAutoLink" id="LPlnk393687" previewremoved="true">
http://www.parker.com/Literature/Electromechanical%20North%20America/CATALOGS-BROCHURES/PSeries/PSeries_UG_EtherCAT_A.pdf</a></p>
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<p>I am trying to tell it to use a certain PDO, which on page 68 of the manual is called 1st PDO mapping. I use the
<span>ecrt_slave_config_pdos</span> function to tell it what PDO to use. But whenever I run the program, and ask it to print out the PDO using
<span>ecrt_master_get_pdo</span> and <span>ecrt_master_get_pdo_entry</span>, I get output that tells me it is using the 2nd PDO mapping (see below). I feel like I am missing something. Is there a good sample program that shows me how to set up something like
this that I can copy?</p>
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<p>(I have used EC-Master from Acontis, and I was able operate the controller using their software. But I want to find an open source solution.)<br>
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<p>Output of my program:<br>
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<div>Output PDO 0x1601 with 4 entries:<br>
PDO entry 0: 0x6040 0 16<br>
PDO entry 1: 0x607a 0 32<br>
PDO entry 2: 0x60b8 0 16<br>
PDO entry 3: 0x60fe 1 32<br>
Input PDO 0x1a01 with 6 entries:<br>
PDO entry 0: 0x6041 0 16<br>
PDO entry 1: 0x6064 0 32<br>
PDO entry 2: 0x60f4 0 32<br>
PDO entry 3: 0x60b9 0 16<br>
PDO entry 4: 0x60ba 0 32<br>
PDO entry 5: 0x60fd 0 32<br>
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Thanks, Stephen<br>
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