[etherlab-users] EL 4024 subindex discrepancy [SEC=UNOFFICIAL]

[matthieu bec]

Hi Damien,

note ethercat pdo gives "RxPDO-Map OutputsCh.1" vs. the xml "AO Outputs 
Channel 1". Looking at the CoE there is:

1600:0     RxPDO-Map Outputs Ch.1     PDO Mapping RxPDO 1
1600:01     SubIndex 001     1. PDO Mapping entry (object 0x7000 (AO 
outputs Ch.1), entry 0x01 (Analog output))
default - 0x7000:01, 16

so it appears the CoE map overrides the PDO map definition.

I'm no expert in the complete ethercat standards. Why it's defined this 
way is beyond me but it kind of makes sense in some twisted way.

Regards,
Matthieu



\On 05/12/13 16:12, LYNCH, Damien wrote:
> Hi,
>
> When I run "ethercat pdos" on an EL4024 I get the output below. The subindexes for the analog output channels are 1.
>
> SM0: PhysAddr 0x1000, DefaultSize  128, ControlRegister 0x26, Enable 1
> SM1: PhysAddr 0x1080, DefaultSize  128, ControlRegister 0x22, Enable 1
> SM2: PhysAddr 0x1100, DefaultSize    8, ControlRegister 0x24, Enable 1
>    RxPDO 0x1600 "RxPDO-Map OutputsCh.1"
>      PDO entry 0x7000:01, 16 bit, "Analog output"
>    RxPDO 0x1601 "RxPDO-Map OutputsCh.2"
>      PDO entry 0x7010:01, 16 bit, "Analog output"
>    RxPDO 0x1602 "RxPDO-Map OutputsCh.3"
>      PDO entry 0x7020:01, 16 bit, "Analog output"
>    RxPDO 0x1603 "RxPDO-Map OutputsCh.4"
>      PDO entry 0x7030:01, 16 bit, "Analog output"
> SM3: PhysAddr 0x1180, DefaultSize    0, ControlRegister 0x20, Enable 0
>
> Should the subindexes not be 0x11? In the "Beckhoff EL4xxx.xml" file the EL4024 subindexes are 17. E.g.:
>
> <RxPdo Fixed="1" Mandatory="1" Sm="2">
>      <Index>#x1600</Index>
>      <Name>AO Outputs Channel 1</Name>
>      <Entry>
>          <Index>#x7000</Index>
>          <SubIndex>17</SubIndex>
>          <BitLen>16</BitLen>
>          <Name>Analog output</Name>
>          <DataType DScale="0-20">INT</DataType>
>      </Entry>
> </RxPdo>
>
> TwinCAT reports the subindexes as 17 as well. On top of this "ethercat sii_read" seems to indicate the subindexes are 0x11 as well, though I must admit I am not proficient at deciphering the SII.
>
> Thanks,
> Damien
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-- 
Matthieu Bec                GMTO Corp.
cell : +1 626 354 9367      P.O. Box 90933
phone: +1 626 204 0527      Pasadena, CA 91109-0933