[etherlab-users] Changing pdo mapping on the fly

[paluan.luca at tiscali.it]

Hello everybody,
I need help since I'm trying to build a server which 
enable clients to access different mode of functions of the motors.
It 
must allow clients to use homing, profiled position, profiled velocity 
and interpolated position motor modes.
I'm using ethercat master in a 
realtime environment based on xenomai, but I cannot map all the 
different variables I need 
at the same time, so I managed to change on 
the fly the mapped variable on switching the motor mode.
Unfortunatly 
to do it I need to deactivate the ethercat master, stop for a moment 
the real time syincronization: the result is 
a fault (fieldbus 
syncronization lost) on every mode chage, which I would like to avoid.

Is there any way to unmap and remap pdos while looping to refresh 
theme.
Pdo input would be fixed, so I don't need to remap theme, 
instead I would remap the output pdos depending on the mode.
Thanks in 
advance for your help and advices.
Best Regards, Luca


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