[etherlab-dev] Problems with PDO mapping on EL4132

Florian Pose fp at igh-essen.com
Wed Jan 30 15:35:29 CET 2008

Hi all,

I had the same problem. A few things are playing together:

1) Beckhoff changed the PDO entry indizes from 0x6411:1 and 0x6411:2 to
0x3001:1 and 0x3002:1, which is completely ok. What they forgot to
change, are the contents of the EEPROM.

2) The master loads the PDO mapping via CoE, once this is possible.
After that, the real (and correct) indices (0x6411...) are visible.

What I'm about to implement, is that the mapping will be loaded at bus
scan time, so that the "old" indices are never seen. A quick and
completely valid fix would be to update the EEPROM contents to the new
indices. And also use these in your applications.

And please, -and this goes to all of you-, please, please don't rely on
the defines used in ecdb.h. As you see, the PDO mapping can change
during the revisions of the hardware, and the file was never meant to be
a correct reference. Perhaps I shall remove it to avoid such
implications. What is your opinion?

Best regards,
Florian Pose


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