[etherlab-users] etherlab-users Digest, Vol 14, Issue 3
fp at igh-essen.com
Tue Jul 8 11:23:42 CEST 2008
On Tue, Jul 08, 2008 at 05:07:17PM +0900, Hobin Yoon wrote:
> I've removed unused SDOs by trial and error. Please find the attached
> file. According to the 'CoE-Online' tab, I've added SDO configuration
Please note that the CoE-Online tab lists the current values of the
Sdos. That does not mean, that they are already configured correctly.
> if (ecrt_slave_conf_sdo8(ec_slave, 0x1C12, 0, 1)) goto out_release_master;
> if (ecrt_slave_conf_sdo16(ec_slave, 0x1C12, 1, 0x1600)) goto
> if (ecrt_slave_conf_sdo8(ec_slave, 0x1C13, 0, 2)) goto out_release_master;
> if (ecrt_slave_conf_sdo16(ec_slave, 0x1C13, 1, 0x1A00)) goto
> if (ecrt_slave_conf_sdo16(ec_slave, 0x1C13, 2, 0x1A01)) goto
Please do not configure the Pdo assignment and Pdo mapping Sdos via the
ecrt_slave_conf_sdoX() functions. They are automatically configured by
the master depending on the values passed to the
ecrt_slave_pdo_mapping() functions, if used. Otherwise, the master reads
the assigned Pdos from the slave, so that you don't have to configure
anything regarding the Pdos.
But again: The master 1.4 offers a much more comfortable way to
configure Pdo assignment and mapping. Moreover it should be much easier
to take new slaves into operation with the 1.4 branch.
> Regarding the DC, my XML has the following DC element. It seems to be
> needed since it didn't work when removed in TwinCAT.
> <Name>Distributed Clocks</Name>
> <Desc>Distributed Clocks</Desc>
Ok, it looked like the slave is still configured to use DC. Did you
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