[etherlab-users] How to expose the PDO mappings?

[Mike Trethewey]

Hi all,

First, I should say I am new to both EtherCAT and CAN so please excuse and correct any misunderstandings.

We are trying to get an ELMO SoloGuitar drive working using CoE.   We have installed the EtherCAT master and can get a response from the ELMO drive.  The responses to "ethercat master", "ethercat slaves" and ethercat sii_read -v" is shown below.

The command "ethercat sdos" give the full list of SDO commands from the dictionary.  We can read from and write to these OK and can enable and disable the drive successfully.  I am happy that  the SDO commands work fine.

Using the SDO commands we can see the default PDO mappings.  However, when we do "ethercat pdos" the result is nothing.  We have tried to write software to map the PDOs but cannot get a response either.

How do we make the master know about the PDO mappings.?
We have vendor produced XML file.  Can we load this in some way?  
If so how please?

Thank you in advance,
Mike


***************************************************************
Response to ethercat master:

>>ethercat master
Master0
  Phase: Idle
  Active: no
  Slaves: 1
  Ethernet devices:
    Main: 00:03:1d:07:e5:c0 (attached)
      Link: UP
      Tx frames:   30138851
      Rx frames:   30138850
      Lost frames: 0
      Tx bytes:    1809517648
      Tx errors:   0
      Tx frame rate [1/s]:    992    992    992
      Tx rate [KByte/s]:     58.1   58.1   58.1
      Loss rate [1/s]:          0      0      0
      Frame loss [%]:         0.0    0.0    0.0

    Backup: None.
  Distributed clocks:
    Reference clock: Slave 0
    Application time: 0
                      2000-01-01 00:00:00.000000000


***************************************************************
Response to ethercat slaves:

>> ethercat slaves -v

=== Master 0, Slave 0 ===
State: PREOP
Flag: +
Identity:
  Vendor Id:       0x0000009a
  Product code:    0x00030923
  Revision number: 0x000103f4
  Serial number:   0x00000000
DL information:
  FMMU bit operation: no
  Distributed clocks: yes, 64 bit
  DC system time transmission delay: 0 ns
Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   NextDc [ns]
   0  MII   down  closed  no              -            -           -           -
   1  MII   up    open    yes             -   2404253442   602577344           0
   2  N/A   down  closed  no              -            -           -           -
   3  N/A   down  closed  no              -            -           -           -
Mailboxes:
  Bootstrap RX: 0x1800/140, TX: 0x1900/140
  Standard  RX: 0x1800/140, TX: 0x1900/140
  Supported protocols: EoE, CoE, FoE

***************************************************************
Response to ethercat sii_read -v

>> ethercat sii_read -v

SII Area:
  05 0e 03 04 e8 03 00 00 00 00 00 00 00 00 35 00
  9a 00 00 00 23 09 03 00 f4 03 01 00 00 00 00 00
  00 00 00 00 00 00 00 00 00 18 8c 00 00 19 8c 00
  00 18 8c 00 00 19 8c 00 0e 00 00 00 00 00 00 00
  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
  00 00 00 00 00 00 00 00 00 00 00 00 0f 00 01 00


***************************************************************

Mike Trethewey
Control Loop Concepts Ltd
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