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

[Andreas Stewering-Bone]

Hello Mike,

Ethercat pdos reads out the pdo from the eeprom.
Normally Drive has configureable pdos, so they are not listed in the eeprom.

Did you get the slave to OP?
Maybe you need to configure DC?


Greatings

Andreas

Mike Trethewey schrieb:
> 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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>   


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