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<p class="MsoNormal">Using only one domain is the normal case.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Some (very old) slaves will require you to use separate domains for input and output data (as they don’t support the LRW datagram), but other than that the choice of domains is entirely up to the application.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Typical division points are where you want to have different cycle rates for different slave groups, or if you want to have “hot connect” groups where you can more easily detect whether a given cluster of slaves is present or absent on
the network based on whether their domain is being processed or not.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">You don’t <i>have</i> to use separate domains for this – my app uses a single domain where any of the slaves can potentially drop in and out, and uses a different method to get some slaves processing faster than others – but it does simplify
some of these use cases.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">I don’t think it’s likely to be related to the issue you’re having.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Have you confirmed that all the PDO mappings were successful, and that the offsets read by your application match those shown in “ethercat domain -v”? And that you are using these same offsets correctly in the EC_WRITE_* calls? Don’t
forget that you have to offset the domain base address with the PDO offset when the former is a uint8_t*, not cast to any other type. Also, digital output data is usually bitwise, and you may need to take into account bit ordering differences between the
master and slave.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
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<p class="MsoNormal"><b>From:</b> BUSSIERES Vincent<br>
<b>Sent:</b> Saturday, 8 February 2020 05:07<br>
<b>To:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> Re: [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" style="color:#1F497D">Dear all,</span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"> </span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">I wonder if the reason of my problem on multi PDO outputs mapping describe below could be because I use only one domain.</span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">In which case should we use several domains ?</span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"> </span><span lang="FR"><o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="FR" style="color:#1F497D">Best regards</span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"> </span><span lang="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">Vincent BUSSIERES</span></b><span lang="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:black">Responsable Technique Logiciel</span></b><span lang="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:black"> </span></b><span lang="FR"><o:p></o:p></span></p>
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<p class="MsoNormal"><i><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy">24 Avenue de Pasleck</span></i><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy">16400 LA COURONNE</span></i><span lang="FR" style="font-family:"Verdana",sans-serif;color:black"><br>
</span><i><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:gray">-----------------------------------</span></i><span lang="FR"><o:p></o:p></span></p>
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</span><span lang="FR" style="font-size:16.0pt;font-family:Webdings;color:green">P</span><span lang="FR" style="color:black"> </span><span lang="FR" style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:#99CC00">Afin de contribuer au respect de l'environnement,
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<p class="MsoNormal"><span lang="FR" style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray">Ce message et les fichiers pouvant être attachés sont confidentiels, réservés à l'usage unique des destinataires et n'engagent HEMERIA sous aucune forme
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<p class="MsoNormal"><b><span lang="FR" style="font-size:10.0pt;color:black"> </span></b><span lang="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"> </span></b><span lang="FR"><o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="FR" style="color:#1F497D"> </span><span lang="FR"><o:p></o:p></span></p>
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<p class="MsoNormal"><b><span lang="FR">De :</span></b><span lang="FR"> Gavin Lambert <<a href="mailto:gavin.lambert@tomra.com">gavin.lambert@tomra.com</a>>
<br>
<b>Envoyé :</b> jeudi 6 février 2020 22:52<br>
<b>À :</b> BUSSIERES Vincent <<a href="mailto:vincent.bussieres@hemeria-group.com">vincent.bussieres@hemeria-group.com</a>>;
<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Objet :</b> RE: PDOs Mapping<o:p></o:p></span></p>
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<p class="MsoNormal"><span lang="FR"> <o:p></o:p></span></p>
<p class="MsoNormal">I can’t speak to the servo drive mapping itself, but as to the other question:<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">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.)<o:p></o:p></span></p>
<p class="MsoNormal"> <span lang="FR"><o:p></o:p></span></p>
<p><strong><span style="font-family:"Calibri",sans-serif;color:#595959">Gavin Lambert</span></strong><b><span style="font-family:"Calibri",sans-serif;color:#595959"><br>
</span></b><span style="font-family:"Calibri",sans-serif;color:#595959">Senior Software Developer</span><span lang="FR"><o:p></o:p></span></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> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> [etherlab-users] PDOs Mapping<span lang="FR"><o:p></o:p></span></p>
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<p class="MsoNormal"> <span lang="FR"><o:p></o:p></span></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"><img border="0" width="675" height="190" style="width:7.0312in;height:1.9791in" id="Image_x0020_3" src="cid:image009.jpg@01D5E000.DD7371D0"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"> <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR"><img border="0" width="675" height="32" style="width:7.0312in;height:.3333in" id="Image_x0020_4" src="cid:image010.jpg@01D5E000.DD7371D0"><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"><img border="0" width="461" height="252" style="width:4.802in;height:2.625in" id="Image_x0020_5" src="cid:image011.jpg@01D5E000.DD7371D0"><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"><img border="0" width="662" height="600" style="width:6.8958in;height:6.25in" id="Image_x0020_7" src="cid:image012.jpg@01D5E000.DD7371D0"><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"> </span><span lang="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">Vincent BUSSIERES</span></b><span lang="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:black">Responsable Technique Logiciel</span></b><span lang="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:black"> </span></b><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:black"><img border="0" width="96" height="72" style="width:1.0in;height:.75in" id="Image_x0020_1" src="cid:image001.png@01D5E000.DD7371D0" alt="1572337113342"></span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy">24 Avenue de Pasleck</span></i><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><i><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:navy">16400 LA COURONNE</span></i><span lang="FR" style="font-family:"Verdana",sans-serif;color:black"><br>
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merci de n'imprimer ce courriel qu'en cas de nécessité.</span><span lang="FR"><o:p></o:p></span></p>
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<p class="MsoNormal"><b><span lang="FR" style="font-size:10.0pt;color:black"> </span></b><span lang="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"> </span></b><span lang="FR"><o:p></o:p></span></p>
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