[etherlab-users] Beckhoff 6731-0010 initialization

Thomas Paoloni thomas at digithom.it
Tue Sep 18 19:26:49 CEST 2012

On 17/09/2012 17:02, Dr.-Ing. Wilhelm Hagemeister wrote:
> Hello Thomas,
> Am 17.09.2012 10:17, schrieb Thomas Paoloni:
>> Another question ...
>> How did you get the piece of code below ?
>> I have it for my slave, but I followed a bad way, I've detached the RJ45
>> cable after the node has been started from twincat and quickly plugged
>> it on my master and read the config with "ethercat cstruct" command.
>> Which is the right way to have it ?
> Two ways:
> or you write the SDO's for configuration with the "ethercat" command and
> after configuring the slave manually you can "ethercat cstruct"
> or you do the configuration in your "C" programm compile and run and
> read the config. If you have the config you can add it to your programm.

Hi Wilhelm,

As of my experience, the "ethercat cstruct" command only returns the 
structure of a previously loaded PDO.
This means that you must already know how the PDO must be configured in 
order to match the one that the node pretends after the magic 
configuration string has been sent.
Anyway, now it works, on last phone call with Beckhoff tecnician I 
realized that the configuration choosen for PDO config was "Legacy" 
instead "MDP mapping".
After MDP has been selected, I can see object 0x8000 and also 0x8002, 
this did the trick for me.

Thanks a lot, looking to your code has been very interesting for me, 
even if it is to state that I was doing the same in the same way.


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