[etherlab-users] Accessing same PDO for both read and write

Thomas Nelson gcsnh at granitecomputersciences.com
Thu Jan 24 04:15:29 CET 2013


My client has a robotics system using Copley Controls Accelnet Plus drives with a digital input-triggered capture capability that we're trying to use for positioning calibration.  This feature requires the ability to map the same slave CoE object for both read to detect the capture event and write to subsequently rearm the trigger.  Mapping this object to both Tx and Rx PDOs appears to work correctly from the PDO mapping info returned from the master.  However, when I attempt to register the corresponding mapped PDO entries in the domain, I get the same domain offset for both PDOs, preventing the application from managing them independently.

The ecrt_slave_config_reg_pdo_entry() function doesn't have an argument to distinguish the direction of the PDO mapping, so is this capability not supported by the master?

We're using the 1.5.0 release.


Tom Nelson
Consulting Engineer
Granite Computer Sciences, LLC

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