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<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:EN-US">Dear all,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:EN-US">I wonder if the reason of my problem on multi PDO outputs mapping describe below could be because I use only one domain.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:EN-US">In which case should we use several domains ?<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><span style="color:#1F497D">Best regards<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D">Vincent BUSSIERES<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">Responsable Technique Logiciel<o:p></o:p></span></b></p>
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<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy">24 Avenue de Pasleck</span></i><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy">16400 LA COURONNE</span></i><span style="font-family:"Verdana",sans-serif;color:black"><br>
</span><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:gray">-----------------------------------</span></i><span style="color:black"><o:p></o:p></span></p>
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</span><span style="font-size:16.0pt;font-family:Webdings;color:green">P</span><span style="color:black"> </span><span style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:#99CC00">Afin de contribuer au respect de l'environnement, merci de n'imprimer
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<p class="MsoNormal"><b>De :</b> Gavin Lambert <gavin.lambert@tomra.com> <br>
<b>Envoyé :</b> jeudi 6 février 2020 22:52<br>
<b>À :</b> BUSSIERES Vincent <vincent.bussieres@hemeria-group.com>; etherlab-users@etherlab.org<br>
<b>Objet :</b> RE: PDOs Mapping<o:p></o:p></p>
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<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US">I can’t speak to the servo drive mapping itself, but as to the other question:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal">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></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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 lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p><strong><span lang="EN-US" style="font-family:"Calibri",sans-serif;color:#595959">Gavin Lambert</span></strong><b><span lang="EN-US" style="font-family:"Calibri",sans-serif;color:#595959"><br>
</span></b><span lang="EN-US" style="font-family:"Calibri",sans-serif;color:#595959">Senior Software Developer<o:p></o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> BUSSIERES Vincent<br>
<b>Sent:</b> Friday, 7 February 2020 09:03<br>
<b>To:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] PDOs Mapping<o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal">Dear All,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I mapped the two RxPdo’s objects below of my Elmo servodrive.<o:p></o:p></p>
<p class="MsoNormal"><img border="0" width="675" height="190" style="width:7.0333in;height:1.9833in" id="Image_x0020_3" src="cid:image013.jpg@01D5DDD9.0148D610"><o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><img border="0" width="675" height="32" style="width:7.0333in;height:.3333in" id="Image_x0020_4" src="cid:image014.jpg@01D5DDD9.0148D610"><o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Mapping seems to be OK<o:p></o:p></p>
<p class="MsoNormal"><img border="0" width="461" height="252" style="width:4.8in;height:2.625in" id="Image_x0020_5" src="cid:image015.jpg@01D5DDD9.0148D610"><o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><img border="0" width="662" height="600" style="width:6.9in;height:6.25in" id="Image_x0020_7" src="cid:image016.jpg@01D5DDD9.0148D610"><o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">6 is the value sent in the controlword of the PDO 0x1605 but nothing for digital outputs.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">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></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Regards<o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D">Vincent BUSSIERES<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">Responsable Technique Logiciel<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><span style="color:black"><img border="0" width="96" height="72" style="width:1.0in;height:.75in" id="Image_x0020_1" src="cid:image001.png@01D5DDD9.0148D610" alt="1572337113342"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy">24 Avenue de Pasleck</span></i><span style="color:black"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy">16400 LA COURONNE</span></i><span style="font-family:"Verdana",sans-serif;color:black"><br>
</span><i><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:gray">-----------------------------------</span></i><span style="color:black"><o:p></o:p></span></p>
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</span><span style="font-size:16.0pt;font-family:Webdings;color:green">P</span><span style="color:black"> </span><span style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:#99CC00">Afin de contribuer au respect de l'environnement, merci de n'imprimer
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