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<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:EN-US">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 style="color:#1F497D;mso-fareast-language:EN-US">The command to configure velocity setpoint (0x60ff) is also OK.<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">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 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">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 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"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:EN-US">The default mapping after a hard reboot :<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><img width="426" height="434" style="width:4.4333in;height:4.5166in" id="_x0000_i1056" src="cid:image015.jpg@01D5E0C5.D2C59180"></span><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"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D;mso-fareast-language:EN-US">My application mapping :<o:p></o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D"><img width="490" height="523" style="width:5.1in;height:5.45in" id="_x0000_i1055" src="cid:image017.jpg@01D5E0C5.D2C59180"></span><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"><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"><b>De :</b> Gavin Lambert <gavin.lambert@tomra.com> <br>
<b>Envoyé :</b> lundi 10 février 2020 23:19<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">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></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">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></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">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></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">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></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">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></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 <<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></span></p>
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<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="color:#1F497D">Thanks, I found the solution to my problem.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">Indeed, digital outputs are drivable from the 32 bits object 0x60FE at index 1.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">I mapped correctly PDO with index 1 for this object as you can see below.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"><img border="0" width="477" height="235" style="width:4.9666in;height:2.45in" id="Image_x0020_2" src="cid:image010.jpg@01D5E0C3.18917C90"></span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">The first digital output is controled by the 16th bit of the word.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">So I need to shift one byte (I presume corresponding to index 0) to drive the output.</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><b><span style="color:#1F497D">EC_WRITE_U32(domain1_pd + off_DigitalOuptut, lValue << 8) ;</span></b><o:p></o:p></p>
<p class="MsoNormal"><b><span style="color:#1F497D"> </span></b><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">Is it the normal behaviour ?</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">Best regards</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
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<p class="MsoNormal"><span style="color:#1F497D">Cordialement</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D">Vincent BUSSIERES</span></b><o:p></o:p></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">Responsable Technique Logiciel</span></b><o:p></o:p></p>
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<p class="MsoNormal"><b>De :</b> 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></p>
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<p class="MsoNormal"> <o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US">Using only one domain is the normal case.</span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US">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><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US">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><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US">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><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US">I don’t think it’s likely to be related to the issue you’re having.</span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US">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><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></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</span><o:p></o:p></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> 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><o:p></o:p></p>
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<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">Dear all,</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><span 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><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D">In which case should we use several domains ?</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<div>
<p class="MsoNormal"><span style="color:#1F497D">Best regards</span><o:p></o:p></p>
<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D">Vincent BUSSIERES</span></b><o:p></o:p></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">Responsable Technique Logiciel</span></b><o:p></o:p></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><o:p></o:p></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>
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<p class="MsoNormal"><span style="color:#1F497D"> </span><o:p></o:p></p>
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<p class="MsoNormal"><b>De :</b> 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></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:</span><o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></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.)<o:p></o:p></p>
<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></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</span><o:p></o:p></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</span><o:p></o:p></p>
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<p class="MsoNormal"><span lang="EN-US"> </span><o:p></o:p></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:image011.jpg@01D5E0C3.18917C90"><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:image012.jpg@01D5E0C3.18917C90"><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:image013.jpg@01D5E0C3.18917C90"><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:image014.jpg@01D5E0C3.18917C90"><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"> </span><o:p></o:p></p>
<p class="MsoNormal"><b><span style="font-size:10.0pt;font-family:"Arial",sans-serif;color:#1F497D">Vincent BUSSIERES</span></b><o:p></o:p></p>
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