[etherlab-users] How to re-mapping pdo in SoE

[Min Yang]

Hello all,

I have a Beckhoff servo drive(AX5201), it supports only SoE.  it's default
pdo mapping is like this:

ec_pdo_entry_info_t slave_0_pdo_entries[] = {

{0x0086, 0x00, 16}, /* Master control word */

{0x0024, 0x00, 32}, /* Velocity command value */

{0x0086, 0x00, 16}, /* Master control word */

{0x0024, 0x00, 32}, /* Velocity command value */

{0x0087, 0x00, 16}, /* Drive status word */

{0x0033, 0x00, 32}, /* Position feedback 1 value */

{0x0087, 0x00, 16}, /* Drive status word */

{0x0033, 0x00, 32}, /* Position feedback 1 value */

};

I added more pdo entries in this structure, but when I used

ecrt_slave_config_pdos(drive0, EC_END, slave_0_syncs) to configure the new
pdo mapping, I got the error"Slave does not support changing the PDO
mapping!". I checked the source code and found only CoE slave can change
PDO mapping. Could Anybody tell me What I can do now?



Regards

Maggie
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