[etherlab-users] Example for Kollmorgen AKD free PDO mapping

[Sebastien Blanchet]

Hi,

In a previous message I had a problem with a Kollmorgen AKD drive and the fixed 
mapping.
http://lists.etherlab.org/pipermail/etherlab-users/2012/001682.html

It is not really solved yet, but instead I have found how to use the free PDO 
mapping of Kollmorgen AKD drive with etherlab.

Therefore I post here an example to help people who start using this device.

Firstly, use 'ethercat download' to set the right SDO sequence to define the 
wanted PDO mapping on the AKD. (use dmesg to see the SDO errors if any)
For example see attachment akd_free_pdo.sh

Secondly, when you have find the right SDO sequence, use the output of 'ethercat 
cstruct' to write your C program and rewrite your SDO sequence with 
ecrt_slave_config_sdo{8,16,32} calls, just before configuring the PDOs
For example see attachement akd_free_pdo.c

Regards

---
sebastien
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