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<p class="MsoNormal">I can’t speak to the servo drive mapping itself, but as to the other question:<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="FR">ecrt_slave_config_sdoX is to specify SDO values that should be set during the PREOP -> SAFEOP -> OP transition. It is intended for any SDO configuration required to bring the device to the intended operational state, especially
eg. If the device disconnects or is rebooted during operation. It must <b>never</b> be used for PDOs – neither for values, nor for the PDO Assign/Config objects.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR">It is different from the sdo_download requests because the latter only occur once at the time the call is made, while the config_sdo is stored and executed on every later PREOP -> SAFEOP transition (until the master is deactivated).
(These should also never be used for PDOs.)</span><o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<P
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<p class="MsoNormal"><b>From:</b> BUSSIERES Vincent<br>
<b>Sent:</b> Friday, 7 February 2020 09:03<br>
<b>To:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> [etherlab-users] PDOs Mapping<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="FR">Dear All,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR">I mapped the two RxPdo’s objects below of my Elmo servodrive.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="mso-fareast-language:FR"><img width="675" height="190" style="width:7.0312in;height:1.9791in" id="Image_x0020_3" src="cid:image003.jpg@01D5DDA3.0A8B5990"></span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="mso-fareast-language:FR"><img width="675" height="32" style="width:7.0312in;height:.3333in" id="Image_x0020_4" src="cid:image005.jpg@01D5DDA3.0A8B5990"></span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR">Mapping seems to be OK<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="mso-fareast-language:FR"><img width="461" height="252" style="width:4.802in;height:2.625in" id="Image_x0020_5" src="cid:image007.jpg@01D5DDA3.0A8B5990"></span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR">But when I write in digital output PDO, nothing is sent. This PDO is peculiar because digital outputs are witten at subindex 1. I don’t know if it’s because of that reason.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="mso-fareast-language:FR"><img width="662" height="600" style="width:6.8958in;height:6.25in" id="Image_x0020_7" src="cid:image009.jpg@01D5DDA3.0A8B5990"></span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR">6 is the value sent in the controlword of the PDO 0x1605 but nothing for digital outputs.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR">You can see my PDO mapping code in the attached file. I have noticed that some people use « ecrt_slave_config_sdoX » function to clear and define Pdo. Is it necessary and what is the difference between this function and
sdo download function ?<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR">Regards<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D;mso-fareast-language:FR"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D;mso-fareast-language:FR">Vincent BUSSIERES<o:p></o:p></span></b></p>
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