<html xmlns:v="urn:schemas-microsoft-com:vml" xmlns:o="urn:schemas-microsoft-com:office:office" xmlns:w="urn:schemas-microsoft-com:office:word" xmlns:m="http://schemas.microsoft.com/office/2004/12/omml" xmlns="http://www.w3.org/TR/REC-html40">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
<meta name="Generator" content="Microsoft Word 15 (filtered medium)">
<style><!--
/* Font Definitions */
@font-face
{font-family:"Cambria Math";
panose-1:2 4 5 3 5 4 6 3 2 4;}
@font-face
{font-family:Calibri;
panose-1:2 15 5 2 2 2 4 3 2 4;}
/* Style Definitions */
p.MsoNormal, li.MsoNormal, div.MsoNormal
{margin:0cm;
margin-bottom:.0001pt;
font-size:11.0pt;
font-family:"Calibri",sans-serif;}
a:link, span.MsoHyperlink
{mso-style-priority:99;
color:#0563C1;
text-decoration:underline;}
a:visited, span.MsoHyperlinkFollowed
{mso-style-priority:99;
color:#954F72;
text-decoration:underline;}
p.msonormal0, li.msonormal0, div.msonormal0
{mso-style-name:msonormal;
mso-margin-top-alt:auto;
margin-right:0cm;
mso-margin-bottom-alt:auto;
margin-left:0cm;
font-size:11.0pt;
font-family:"Calibri",sans-serif;}
span.EmailStyle18
{mso-style-type:personal-reply;
font-family:"Calibri",sans-serif;
color:windowtext;}
.MsoChpDefault
{mso-style-type:export-only;
font-size:10.0pt;}
@page WordSection1
{size:612.0pt 792.0pt;
margin:72.0pt 72.0pt 72.0pt 72.0pt;}
div.WordSection1
{page:WordSection1;}
--></style><!--[if gte mso 9]><xml>
<o:shapedefaults v:ext="edit" spidmax="1026" />
</xml><![endif]--><!--[if gte mso 9]><xml>
<o:shapelayout v:ext="edit">
<o:idmap v:ext="edit" data="1" />
</o:shapelayout></xml><![endif]-->
</head>
<body lang="EN-NZ" link="#0563C1" vlink="#954F72">
<div class="WordSection1">
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">You don’t need to perform explicit downloads of the PDO assignment or configuration registers at all, ever; they are managed internally by the master library. Simply use the combination of ecrt_slave_config_pdos
and ecrt_domain_reg_pdo_entry_list as shown in the examples. You can use “ethercat cstruct” to generate the required data structures for these calls. (In some cases or for particular slaves, eg. with overlapping or repeated PDOs, you might need to do something
a little more complicated, but that is rare.)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">If you have slaves with different revisions, note that different structures may be required for each revision, if the PDO layout has been changed.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">If the slave does not support CoE (which is what the “protocol not supported” error implies) then it is not possible to alter the slave’s PDO assignment – it has a manufacturer-defined fixed setup.
You must make sure that the configuration and assignment defined in your application matches this, by using those APIs mentioned above.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<div style="border:none;border-left:solid blue 1.5pt;padding:0cm 0cm 0cm 4.0pt">
<div>
<div style="border:none;border-top:solid #E1E1E1 1.0pt;padding:3.0pt 0cm 0cm 0cm">
<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> Derrill Vezina<br>
<b>Sent:</b> Friday, 29 June 2018 01:40<br>
<b>To:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> [etherlab-users] Failed to execute SDO download: Protocol not supported<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<div>
<p class="MsoNormal">Hi,<span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"><span style="font-size:12.0pt"><o:p> </o:p></span></p>
</div>
<div>
<p class="MsoNormal">I am currently using a Beckhoff EL2502 PWM output card with the Etherlab 1.5.2 master using the generic ethernet driver. On startup, I am trying to set a PDO assignment SDO register using ecrt_master_sdo_download() and am getting an error
back “Failed to execute SDO download: Protocol not supported”.<span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"> <span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal">I am not able to set a PDO assignment SDO registers using the ecrt_slave_config_sdoX() calls…which from my reading of other mailing list posts is only used for configuration registers.<o:p></o:p></p>
</div>
<div>
<p class="MsoNormal"> <span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal">In turn, I was able to use the Ethercat Etherlab tool and change the PDO mapping so I assumed it is available from the application interface since they use the same calls (ioctl interface)<span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"> <span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal">Beckhoff changed the firmware on the card and I’m trying to reassign the PDO’s to the old mappings… this isn’t the first time I’ve run into this problem so I'm looking for a solution for all cards that would have this problem. Ideally,
id like to do it through the application interface and avoid running a script on startup that uses the tool.<span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal"> <span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
<div>
<p class="MsoNormal">Has anyone has success with doing this type of transaction?<span style="font-size:12.0pt"><o:p></o:p></span></p>
</div>
</div>
</div>
</body>
</html>