[etherlab-users] Non-CoE slaves

Florian Pose fp at igh-essen.com
Fri May 18 07:52:23 CEST 2012

Hash: SHA1


Am 17.05.2012 20:25, schrieb Thomas Nelson:
> My client is adding a digital I/O module to their current EtherCAT
> servo motor control system that I've been working with for several
> months now. All slaves are currently using CoE, but the DIO module
> that we're currently evaluating does not support that mode (or any
> other mailbox mode for that matter), only fixed data access via the
> SMs and FMMUs.
> Does the current (1.5.x) master support this capability? If so,
> can someone provide a suitable configuration example, as it's not
> obvious to me that one of the existing examples demonstrates this.
> The DIO module is enumerated successfully, but I haven't been able
> to configure it for access from the application.

The digital output slave in the user/ example is such a slave. You can
just ctreate a slave configuration and then call
ecrt_slave_config_pdos() as usual (to tell the master about the PDO
layout). The only difference is, that the master won't have a
possibility to change the PDO mapping, but this is not necessary if
the mapping provided matches the slave's PDOs.

- -- 
Viele Grüße,
Florian Pose
Comment: Using GnuPG with Mozilla - http://enigmail.mozdev.org/


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