[etherlab-users] Profibus Master, ec_pdo_entry_info_t, Size of the PDO entry in bit

[Ralf Becker]

Dear etherlab-users-forum,
I use the EtherCAT Master Development Version 1.5, the Beckhoff EL6731
Profibus Master module
and configure SDO's with the function ecrt_slave_config_complete_sdo().

One module within the Profibus Slave gsd-file is modul 3 (attachment
JAN926.gsd):
...
Module = "STD: 32 Word In, 1 Byte Out" 0xc0,0x00,0x5f
3
EndModule
...

If I use this module, the configuration is the following:

//PDO entry configuration information
//typedef struct {
//    uint16_t index;            /**< PDO entry index. */
//    uint8_t subindex;        /**< PDO entry subindex. */
//    uint8_t bit_length;      /**< Size of the PDO entry in bit. */
//} ec_pdo_entry_info_t;

ec_pdo_entry_info_t slave_1_pdo_entries[] = {
    {0x7000, 0x01, 8},
    {0x6000, 0x01, 512}      ???????
};

//PDO configuration information
ec_pdo_info_t slave_1_pdos[] = {
    {0x1600, 1, slave_3_pdo_entries},
    {0x1a00, 1, slave_3_pdo_entries + 1}
};

// Sync manager configuration information
ec_sync_info_t slave_1_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_3_pdos, EC_WD_DISABLE},
    {3, EC_DIR_INPUT, 1, slave_3_pdos + 1, EC_WD_DISABLE}
};

"32 Word In" gives 512 bits but the variable "bit_length" has the type
uint8_t
(struct "ec_pdo_entry_info_t" ,line "{0x6000, 0x01, 512}").

Is this the right way to use more subindexes or is there another solution ?
ec_pdo_entry_info_t slave_1_pdo_entries[] = {
    {0x7000, 0x01, 8},
    {0x6000, 0x01, 128},
    {0x6000, 0x02, 128},
    {0x6000, 0x03, 128},
    {0x6000, 0x04, 128}
};

Do any of you have experience with that and can help me ?
Thank you in advance.

Regards
Ralf Becker

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Ralf Becker
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