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<p class="MsoNormal">There isn’t any bug in the master related to mapping with subindex 1 – I do it all the time. It’s possible (though very unlikely) it’s a bug in the slave’s address map – people often forget that the standard object model has SI 0 with
8 bits then 8 bits of additional padding prior to SI 1. But that rarely matters unless you’re using SDO Complete Access, and it’s most likely to be something else.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Check the syslog output when you’re starting your app with “ethercat debug 1” enabled; see if there’s any errors reported while configuring the slave. Some slaves will reject certain kinds of configuration changes, and then the master
and slave will disagree on the contents of a particular SM, leading to communications problems.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">It's also possibly notable that you have an 8-bit field in your mapping that is absent in the original mapping. It’s possible that the slave requires padding to align data on 16-bit boundaries. You may need to add an 8-bit padding field
as well. (Or if the slave doesn’t support custom configuration, then you may need to select a PDO to follow it that starts with another 8-bit field.)<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Something that is also worthwhile trying is to temporarily change your mapping structures in your app to just omit the pointer component in the slave_0_pdos structures (ie. so that the slave_0_pdo_entries are not used at all). After that,
hard reboot the slave again, run your app long enough for it to configure the domain, and then run “ethercat cstruct” one more time (optionally after exiting your app).<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">This will make ecrt_slave_config_pdos still perform the PDO reassignment but omit the PDO reconfiguration, which in turn should show you the default PDO configuration of the slave for the PDOs that you’re actually using – which is typically
what you should actually have in your app code.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">(Actually, most slaves will reject PDO config changes, only allowing PDO assign changes. So it’s critically important to ensure that when you call ecrt_slave_config_pdos you pass it the exact same PDO config as the slave already has.
So your final code should include the slave_0_pdo_entries – but they need to be the
<i>right</i> entries.)<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 <vincent.bussieres@hemeria-group.com>
<br>
<b>Sent:</b> Tuesday, 11 February 2020 22:28<br>
<b>To:</b> Gavin Lambert <gavin.lambert@tomra.com>; etherlab-users@etherlab.org<br>
<b>Subject:</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="FR" style="color:#1F497D">I don’t think this is an endian issue because when I write controlword (0x6040) with EC_WRITE_U16, the servodrive understand the command.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">The command to configure velocity setpoint (0x60ff) is also OK.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">It looks like a bug for pdo which doesn’t begin à index 0. In my case I encounter this issue only for pdo 0x60fe at index 1.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">Mapping seems to be OK, I compare it with default mapping using “ethercat cstruct” command.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">The default mapping after a hard reboot :<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><img width="426" height="434" style="width:4.4375in;height:4.5208in" id="_x0000_i1025" src="cid:image015.jpg@01D5E198.7E3A82A0"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">My application mapping :<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><img width="490" height="523" style="width:5.1041in;height:5.4479in" id="_x0000_i1026" src="cid:image017.jpg@01D5E198.7E3A82A0"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><o:p> </o:p></span></p>
<div>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">Best regards<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><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<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span lang="FR" 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 lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><span lang="FR" style="color:black"><img width="96" height="72" style="width:1.0in;height:.75in" id="_x0000_i1027" src="cid:image018.png@01D5E198.7E3A82A0" alt="1572337113342"><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" style="color:black"><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" style="color:black"><o:p></o:p></span></p>
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<p class="MsoNormal"><b><span lang="FR" style="font-size:10.0pt;color:black"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span lang="FR" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D"><o:p> </o:p></span></b></p>
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<p class="MsoNormal"><span lang="FR" style="color:#1F497D"><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> lundi 10 février 2020 23:19<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">You’re contradicting yourself there, by saying both that the first output is the 16<sup>th</sup> bit and the 8<sup>th</sup> bit.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">The EC_* macros assume that the slave is using little-endian byte ordering for its multi-byte values, which is the convention on EtherCAT networks (though the opposite of most other network protocols).<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">If your slave happens to use a different byte ordering, that could explain an unexpected ordering of the output bits, although normally I wouldn’t expect a 32-bit value to only be 8-bits “off” if it were an endian issue.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">Another possibility is that if you are using the PDO Config structures (usually via ecrt_slave_config_pdos), these may be incorrect (eg. not properly accounting for padding) and may be throwing things off.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal">A handy thing to try (with your app not running) is to hard reboot the slave and then run “ethercat cstruct” to generate its default configuration, then compare this to your app code.<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></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<o:p></o:p></span></p>
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<p class="MsoNormal"><b>From:</b> BUSSIERES Vincent <<a href="mailto:vincent.bussieres@hemeria-group.com">vincent.bussieres@hemeria-group.com</a>>
<br>
<b>Sent:</b> Tuesday, 11 February 2020 02:03<br>
<b>To:</b> Gavin Lambert <<a href="mailto:gavin.lambert@tomra.com">gavin.lambert@tomra.com</a>>;
<a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> RE: PDOs Mapping<o:p></o:p></p>
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</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">Thanks, I found the solution to my problem.</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">Indeed, digital outputs are drivable from the 32 bits object 0x60FE at index 1.</span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">I mapped correctly PDO with index 1 for this object as you can see below.</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"><img border="0" width="477" height="235" style="width:4.9687in;height:2.4479in" id="Image_x0020_2" src="cid:image026.jpg@01D5E198.7E3A82A0"></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">The first digital output is controled by the 16th bit of the word.</span><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">So I need to shift one byte (I presume corresponding to index 0) to drive the output.</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="color:#1F497D">EC_WRITE_U32(domain1_pd + off_DigitalOuptut, lValue << 8) ;</span></b><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><b><span lang="FR" style="color:#1F497D"> </span></b><span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">Is it the normal behaviour ?</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">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>
<div>
<p class="MsoNormal"><span lang="FR" style="color:#1F497D">Cordialement</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>
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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>
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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,
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">De :</span></b><span lang="FR"> Gavin Lambert <<a href="mailto:gavin.lambert@tomra.com">gavin.lambert@tomra.com</a>>
<br>
<b>Envoyé :</b> dimanche 9 février 2020 23:10<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">Using only one domain is the normal case.<span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"> <span lang="FR"><o:p></o:p></span></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.<span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"> <span lang="FR"><o:p></o:p></span></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.<span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"> <span lang="FR"><o:p></o:p></span></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.<span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal"> <span lang="FR"><o:p></o:p></span></p>
<p class="MsoNormal">I don’t think it’s likely to be related to the issue you’re having.<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"><o:p></o:p></span></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.<span lang="FR"><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> Saturday, 8 February 2020 05:07<br>
<b>To:</b> <a href="mailto:etherlab-users@etherlab.org">etherlab-users@etherlab.org</a><br>
<b>Subject:</b> Re: [etherlab-users] PDOs Mapping<span lang="FR"><o:p></o:p></span></p>
</div>
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<p class="MsoNormal"> <span lang="FR"><o:p></o:p></span></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>
<div>
<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>
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que ce soit.</span><span lang="FR" style="color:black"><br>
</span><span lang="EN-GB" style="font-size:8.0pt;font-family:"Verdana",sans-serif;color:gray">This email and any files transmitted with it are confidential, intented solely for the unique use of the recipients and don't commit HEMERIA.</span><span lang="FR"><o:p></o:p></span></p>
<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>
</div>
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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:image027.jpg@01D5E198.7E3A82A0"><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:image028.jpg@01D5E198.7E3A82A0"><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:image029.jpg@01D5E198.7E3A82A0"><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:image030.jpg@01D5E198.7E3A82A0"><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>
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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>
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