[etherlab-users] Variable PDO Mapping

[Thomas Paoloni]

On 15/04/2011 04:58, Ravi Chemudugunta wrote:
> Hello,
>
> I am trying to change the default PDO assignments on the Yaskawa Sigma 
> V Servo.
>
> Currently the RX PDO only contains Control, Target Position, but I 
> would also like
> to map the Profile Velocity in.
>
> The reference material recommends the following procedure:
>
> * Set PDO assignment count on Sync Managers 2, 3 to 0
> * Modify PDO Mapping
> * Set PDO assignment count on Sync Managers 2, 3 to 1
>
> I am using sdo transfers via command line to try to change the values:
>
> # disable sync
> ethercat -p9 --type uint8 download 0x1c12 0 0
> ethercat -p9 --type uint8 download 0x1c13 0 0
>
> # add velocity
> # push dictionary entry 0x6081:00 into the map
> ethercat -p9 --type uint32 download 0x1601 3 0x60810020
> # update size
> ethercat -p9 --type uint8 download 0x1601 0 3
>
> # re-enable sync
> ethercat -p9 --type uint8 download 0x1c12 0 1
> ethercat -p9 --type uint8 download 0x1c13 0 1
>
> However after executing the command to push an entry into the map:
>
> I get the following error.
>
> $ ethercat -p9 --type uint32 download 0x1601 3 0x60810020
> SDO transfer aborted with code 0x06040041: The object cannot be mapped 
> into the PDO
>
> I have tried doing the same with other dictionary entries that are 
> compatible to be mapped
> as PDO items, still the same result.
>
> === Master 0, Slave 9 ===
> Alias: 1
> State: PREOP
> Flag: +
> Identity:
>   Vendor Id:       0x00000539
>   Product code:    0x02200001
>   Revision number: 0x00030001
>   Serial number:   0x00000000
> DL information:
>   FMMU bit operation: yes
>   Distributed clocks: yes, 32 bit
>   DC system time transmission delay: 2510 ns
> Port  Type  Link  Loop    Signal  NextSlave  RxTime [ns]  Diff [ns]   
> NextDc [ns]
>    0  MII   up    open    yes             8   1907351212           
> 0          80
>    1  MII   down  closed  no              -            -           
> -           -
>    2  N/A   down  closed  no              -            -           
> -           -
>    3  N/A   down  closed  no              -            -           
> -           -
> Mailboxes:
>   Bootstrap RX: 0x0000/0, TX: 0x0000/0
>   Standard  RX: 0x1000/128, TX: 0x1080/128
>   Supported protocols: CoE
> General:
>   Group:
>   Image name:
>   Order number:
>   Device name:
>   CoE details:
>     Enable SDO: yes
>     Enable SDO Info: yes
>     Enable PDO Assign: yes
>     Enable PDO Configuration: yes
>     Enable Upload at startup: no
>     Enable SDO complete access: no
>   Flags:
>     Enable SafeOp: no
>     Enable notLRW: yes
>   Current consumption: 0 mA
>
>
> -- 
> C-x C-s, C-x C-c
>
>
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> etherlab-users at etherlab.org
> http://lists.etherlab.org/mailman/listinfo/etherlab-users
Hi,

I'm experiencing the same problem with a Parker TPD drive, did you found 
a solution ?

Bye,
Thomas.
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